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Appendix IV

Nonlinear Reflectivity Mapping

By default, the 1-byte reflectivity data in Point Cloud Data Packets linearly represents target reflectivity from 0 to 255%.

Alternatively, users may choose the Nonlinear Mapping mode, see Section 4.2 (Web Control - Settings).

The nonlinear relationship is detailed below.

Reflectivity Index (0~255)

Figure IV.1 Nonlinear Reflectivity Mapping

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Содержание Pandar128

Страница 1: ...www hesaitech com Pandar128 128 Channel Mechanical LiDAR User Manual HESAI Wechat...

Страница 2: ...Data Packet 23 3 2 GPS Data Packet 33 4 Web Control 39 4 1 Home 40 4 2 Settings 41 4 3 Azimuth FOV 45 4 4 High Resolution 47 4 5 Operation Statistics 48 4 6 Monitor 49 4 7 Upgrade 50 5 PandarView 51 5...

Страница 3: ...tampered with and must not be changed in any way There are no user serviceable parts inside the product For repairs and maintenance inquiries please contact an authorized Hesai Technology service prov...

Страница 4: ...osure with bare hands If the enclosure is already stained please refer to the cleaning method in the Sensor Maintenance chapter of user manuals Eye Safety Although the product meets Class 1 eye safety...

Страница 5: ...ome components in the product can emit electromagnetic fields which may interfere with medical devices such as cochlear implants heart pacemakers and defibrillators Consult your physician and medical...

Страница 6: ...inciple Distance Measurement Time of Flight ToF 1 A laser diode emits a beam of ultrashort laser pulses onto the target object 2 The laser pulses are diffusely reflected after hitting the target objec...

Страница 7: ...s illustrated in Figure 1 3 Z axis is the axis of rotation By default the LiDAR rotates clockwise in the top view To select counterclockwise rotation see Section 4 2 Web Control Settings The origin is...

Страница 8: ...ion Figure 1 5 Channel Vertical Distribution Figure 1 6 Laser Firing Position Unit mm Each channel has an intrinsic angle offset both horizontally and vertically The offsets are recorded in this LiDAR...

Страница 9: ...P IP Ethernet 1000Base TX or 1000Base T1 Resolution Vertical 0 125 6 to 2 Data Outputs Distance Azimuth Angle Intensity 0 5 2 to 14 6 to 24 Valid Data Points Single Return 3 456 000 points sec max 1 1...

Страница 10: ...8 2 Setup 2 1 Mechanical Installation Figure 2 1 Front View Unit mm...

Страница 11: ...9 Figure 2 2 Bottom View Unit mm...

Страница 12: ...10 Quick Installation Figure 2 3 Quick Installation...

Страница 13: ...11 Stable Installation Figure 2 4 Stable Installation...

Страница 14: ...12 2 2 Interfaces Lemo part number EEG 2T 316 CLN female socket on the LiDAR Looking from the bottom of the LiDAR Figure 2 5 Lemo Connector Female Socket...

Страница 15: ...to 1 V 13 Ethernet BI_DD 1 to 1 V 6 Ethernet BI_DB 1 to 1 V 14 Ethernet BI_DD 1 to 1 V 7 Ethernet BI_DA 1 to 1 V 15 Index 0 to 3 3 V 8 Ethernet BI_DA 1 to 1 V 16 Encoder 0 to 3 3 V Automotive 1000Base...

Страница 16: ...l either using the cable s GPS wire or via the connection box s GPS port make sure the LiDAR is powered off If the LiDAR has to stay powered on make sure to ground yourself in advance avoid touching t...

Страница 17: ...cables or the shells or by twisting the connectors in any way Doing so can loosen the connectors shells or even damage the contacts In case a connector s shell is accidentally pulled off stop using t...

Страница 18: ...may connect the LiDAR directly or using the connection box The connection box has a power port a GPS port and a standard Ethernet port Lemo part number FSG 2T 316 CLAC80Z male plug on the connection...

Страница 19: ...t BI_DB 1 to 1 V Green White 14 Ethernet BI_DD 1 to 1 V Brown White 7 Ethernet BI_DA 1 to 1 V Orange 15 Index 0 to 3 3 V Gray 8 Ethernet BI_DA 1 to 1 V Orange White 16 Encoder 0 to 3 3 V Gray White Au...

Страница 20: ...06V S B Voltage standard RS232 Baud rate 9600 bps The GPS port pin numbers are 1 to 6 from left to right defined as follows Pin Direction Pin Description Requirements 1 Input PPS pulse per second sign...

Страница 21: ...300 Voltage 0 V to 3 3 V Signal type pulse Max current output level 12 mA Pin Description for the trigger port Pin Direction Pin Description 1 Input GND to ground the external trigger signal 2 Output...

Страница 22: ...20 2 3 2 Connection Figure 2 10 Connection Box Connection NOTE Refer to Appendix III PTP Protocol when PTP is used...

Страница 23: ...ace enp0s20f0u2 with the local Ethernet port name Open the Network Sharing Center click on Ethernet In the Ethernet Status box click on Properties Double click on Internet Protocol Version 4 TCP IPv4...

Страница 24: ...s are unsigned and in little endian format Figure 3 1 Data Structure LiDAR Data Point Cloud Data Packet 935 bytes Ethernet Header 42 bytes UDP Data 893 bytes Pre Header 6 bytes Header 6 bytes Body 776...

Страница 25: ...C 12 Destination broadcast 0xFF 0xFF 0xFF 0xFF 0xFF 0xFF Source xx xx xx xx xx xx Ethernet Data Packet Type 2 0x08 0x00 Internet Protocol 20 Shown in the figure below UDP Port Number 4 UDP source port...

Страница 26: ...ion 0xEE 1 SOP start of packet 0xFF 1 SOP start of packet Protocol Version Major 1 To distinguish between product models 0x01 for Pandar128 Protocol Version Minor 1 For each product model to indicate...

Страница 27: ...l Return mode i e Last Return in 0x39 or 0x3B mode or First Return in 0x3C mode Dis Unit 1 0x04 4 mm Return Num 1 Number of returns that each channel generates 0x01 one return 0x02 two returns Flags 1...

Страница 28: ...ity Reflectivity in percentage 0 to 255 Pandar128 supports three single return modes and three dual return modes see the Return Mode field in the Tail of Point Cloud UDP Data In a dual return mode the...

Страница 29: ...queue starting from 1 Fault Code 2 Fault code sent by this data packet Reserved 8 CRC 2 4 CRC 32 checksum of Functional Safety from the Lidar State field to the Fault Code field Lidar State field LiD...

Страница 30: ...Performance i e High Resolution 1 Shutdown 2 Standard 3 Energy Saving measurement range reduced Return Mode 1 0x33 First Return 0x37 Strongest Return 0x38 Last Return 0x39 Dual Return Last Strongest...

Страница 31: ...Conversion factor of angular velocity as an unsigned integer Currently 14000 0x36b0 Unit of angular velocity 0 01 mdps 14000 140 mdps millidegree per second IMU Timestamp 4 Timestamp of the IMU data...

Страница 32: ...40 mdps see the IMU Angular Velocity Unit field E g When IMU_X_Axis_Angular_Velocity_2_bytes 5 X axis angular velocity 5 140 mdps 700 mdps IMU Y Axis Angular Velocity 2 Angular velocity of the Y axis...

Страница 33: ...2 Horizontal angle current reference angle of the rotor horizontal angle offset firing time offset Current reference angle of the rotor is the Azimuth field of Block 2 Horizontal angle offset 1 093 f...

Страница 34: ...32 Continued Draw the data point in a polar or rectangular coordinate system Obtain the real time point cloud data by analyzing and drawing every data point in each frame...

Страница 35: ...anwhile the LiDAR will extract the actual date and time from NMEA messages GPRMC or GPGGA and stamp them into both Point Cloud Data Packets and GPS Data Packets Point Cloud Data Packets 6 byte Date Ti...

Страница 36: ...roadcast 0xFF 0xFF 0xFF 0xFF 0xFF 0xFF Source xx xx xx xx xx xx Ethernet Data Packet Type 2 0x08 0x00 Internet Protocol 20 Shown in the figure below UDP Port Number 4 UDP source port 0x2710 represents...

Страница 37: ...4 NMEA sentence that contains date and time ASCII code valid till 2 bytes after the asterisk The LiDAR can receive either GPRMC or GPGGA see Section 4 2 Web Control Settings Reserved 404 404 bytes of...

Страница 38: ...hex 0 for GPS being unlocked 09 UTC Date Date information Typically in ddmmyy day month year format The LiDAR s GPS data interface is compatible with a variety of GPRMC formats as long as 01 is the h...

Страница 39: ...lid 1 GPS fix SPS 2 DGPS fix 3 PPS fix 6 estimated dead reckoning The LiDAR s GPS data interface is compatible with a variety of GPGGA formats as long as 01 is the hour minute and second information F...

Страница 40: ...0x32 0 2 20 Month 0x34 0x30 4 0 04 Day 0x37 0x30 7 0 07 Time Field Data ASCII Code Characters Meaning Second 0x38 0x35 8 5 58 Minute 0x37 0x30 7 0 07 Hour 0x34 0x30 4 0 04 s Time 4 bytes in units of...

Страница 41: ...vice info and upgrading To access web control 1 Connect the LiDAR to your PC using an Ethernet cable 2 Set the IP address according to Section 2 4 Get Ready to Use 3 Enter this URL into your web brows...

Страница 42: ...d Tracking Slave is trying to sync with the selected PTP Master but the absolute offset is over 1 s Locked Absolute offset between Slave and Master is 1 s Frozen Holdover LiDAR has lost connection to...

Страница 43: ...ection 4 3 1 2 Control IP VLAN Tagging can be used when the receiving host also supports VLAN function Check the VLAN checkbox and input a VLAN ID 1 4094 Set the VLAN ID of the receiving host to be th...

Страница 44: ...ers fire every 55 56 us Noise Filtering Noise points mitigation in rain and fog Interstitial Points Filtering Interstitial point when a beam partially hits on a front target s edge and further hits on...

Страница 45: ...onstant shifting only between High Performance and Shutdown Standby Mode Motor not running and lasers not firing Definition of operational states Operational States Horizontal Resolution Laser Power H...

Страница 46: ...urce Profile 1588v2 default 802 1AS IEEE timing and synchronization standard PTP Network Transport UDP IP default or L2 1588v2 users can select UDP IP or L2 802 1AS only supports L2 network PTP Domain...

Страница 47: ...select one of the two modes for all channels or multi section FOV 4 3 1 For all channels A continuous angle range specified by a Start Angle and an End Angle will be applied to all channels The LiDAR...

Страница 48: ...its specified range 4 3 3 Note Click Save to apply your settings The angles in degrees are accurate to the first decimal place If the Start Angle is larger than the End Angle then the actual azimuth F...

Страница 49: ...all channels High Resolution 10 Hz 0 1 for the 64 high res channels Channel 26 to Channel 89 0 2 for the other channels NOTE Channel counts from 1 to 128 20 Hz 0 2 for the 64 high res channels Channe...

Страница 50: ...48 4 5 Operation Statistics The LiDAR s operation time in aggregate and in different temperature ranges are listed as well as the internal temperature and humidity...

Страница 51: ...49 4 6 Monitor The LiDAR s input current voltage and power consumption are displayed...

Страница 52: ...e is complete the LiDAR will automatically reboot and the past versions will be logged in the Upgrade Log A software reboot is triggered by clicking the Restart button on the top right corner Afterwar...

Страница 53: ...m Installation Files Installation Steps Windows PandarViewX64_Release_V1 7 22 msi Before upgrading PandarView to a newer version please uninstall the current version Double click and install PandarVie...

Страница 54: ...se Check Live Data Click on and select your LiDAR model to begin receiving data over Ethernet Record Point Cloud Data Click on to pop up the Choose Output File window Specify the file directory and cl...

Страница 55: ...V see Section 1 3 Channel Distribution We recommend importing the calibration file of this LiDAR unit into PandarView File Import Correction File in order to display the point cloud most accurately If...

Страница 56: ...e paused jump to the next frame While playing forward May click again to adjust the forward speed 2x 3x 1 2x 1 4x and 1x Jump to the end of the file Save a single frame to CSV While playing this Recor...

Страница 57: ...t of view The bottom left coordinate axes show the current point of view 3D Projection and Distance Measurement PandarView supports perspective projection default and orthographic projection The dista...

Страница 58: ...See the definition of blocks in Section 3 1 2 Point Cloud UDP Data UDP Port Enter the UDP port number and click Set to apply it Distance Reference Circles Click on to show hide the 12 distance refere...

Страница 59: ...cts Channel Selection Click on to open the Channel Selection box Check Uncheck the boxes on the left to show hide each channel By default the point cloud data from all channels are shown Check Uncheck...

Страница 60: ...e data of the highlighted points as shown below Some of the data fields are defined below Field Description points The XYZ coordinates of each point azimuth Rotor s current reference angle azimuth_cal...

Страница 61: ...olor legend at the lower right corner The default color scheme is intensity based Users can choose from other colors schemes based on azimuth azimuth_calib distance elevation laser_id or timestamp Cli...

Страница 62: ...60 6 Communication Protocol To receive Hesai LiDAR s TCP and HTTP API Protocols please contact Hesai technical support...

Страница 63: ...irt fingerprints and oil can negatively affect point cloud data quality Please perform the following steps to remove the stains NOTE To avoid damaging the optical coating DO NOT apply pressure when wi...

Страница 64: ...lation and keep away from fire Solvent temperature 20 to 25 4 When the stains have loosened dip a piece of lint free wipe into the solvent made in Step 3 and gently wipe the enclosure back and forth a...

Страница 65: ...atisfy the requirements in Section 1 4 Specifications and 2 3 Connection Box web control can be accessed see cannot open web control on the next page Power on again to check if the symptom persists Mo...

Страница 66: ...t with the PC s Users may use WireShark to check the LiDAR s IP that broadcasts data packets Afterwards restart PC or connect the LiDAR to another PC power on again to check if the symptom persists Ab...

Страница 67: ...n Statistics page of web control Afterwards check for packet loss If no packet is missing while the point cloud flashes please update PandarView to the latest version see the Download page of Hesai s...

Страница 68: ...e 128 channels fire laser pulses that measure the far field 2 85 m Additionally the NF enabled channels also fire laser pulses that measure only the near field 0 3 2 85 m at a time other than these ch...

Страница 69: ...m 10 06 3 273 11 702 0 3 m 100 m YES 120 m 100 m 6 07 1 094 11 239 2 85 m 100 m 120 m 100 m 6 08 3 278 10 771 2 85 m 100 m 140 m 100 m 3 09 1 095 10 305 0 3 m 100 m YES 140 m 100 m 3 10 3 283 9 830 2...

Страница 70: ...37 YES 27 7 72 1 885 2 85 m 200 m 140 m 200 m 37 YES 28 5 535 1 761 2 85 m 200 m 140 m 200 m 37 YES 29 3 325 1 637 2 85 m 200 m 140 m 200 m 37 YES 30 3 33 1 511 2 85 m 200 m 140 m 200 m 37 YES 31 1 10...

Страница 71: ...m 10 YES 47 1 110 0 632 0 3 m 200 m YES 200 m YES 200 m 10 YES 48 5 555 0 760 2 85 m 200 m 200 m YES 200 m 10 YES 49 7 750 0 887 2 85 m 200 m 200 m YES 200 m 10 YES 50 1 119 1 012 2 85 m 200 m 200 m...

Страница 72: ...3 044 2 85 m 200 m 140 m 200 m 37 YES 67 7 780 3 172 2 85 m 200 m 140 m 200 m 37 YES 68 5 578 3 299 0 3 m 200 m YES 140 m 200 m 37 YES 69 3 351 3 425 2 85 m 200 m 140 m 200 m 37 YES 70 3 358 3 552 2 8...

Страница 73: ...86 3 369 5 589 2 85 m 200 m 140 m 200 m 37 YES 87 1 118 5 718 2 85 m 200 m 140 m 200 m 37 YES 88 5 599 5 843 2 85 m 200 m 140 m 200 m 37 YES 89 7 811 5 968 2 85 m 200 m 140 m 200 m 37 YES 90 1 129 6...

Страница 74: ...6 2 85 m 100 m 50 m 100 m 120 107 1 135 14 66 2 85 m 100 m 50 m 100 m 120 108 3 410 15 154 0 3 m 100 m YES 50 m 100 m 120 109 1 137 15 645 2 85 m 100 m 50 m 100 m 120 110 3 416 16 135 2 85 m 100 m 50...

Страница 75: ...z Offset Vertical Min Max 121 1 145 21 379 2 85 m 100 m 25 m 100 m 1600 122 3 436 21 848 2 85 m 100 m 25 m 100 m 1600 123 1 146 22 304 0 3 m 100 m YES 25 m 100 m 1600 124 3 440 22 768 2 85 m 100 m 25...

Страница 76: ...from one round of firing are stored in the two blocks of one packet The absolute time of a Point Cloud Data Packet is the time when the LiDAR sends a command to trigger a round of firing that will be...

Страница 77: ...ck depends on the horizontal resolution whether the LiDAR is operating in High Resolution mode or Standard mode defined in Section 4 4 High Resolution Block Start Time s in High Resolution Mode Start...

Страница 78: ...erformance standard energy saving shutdown 2 Check the Azimuth Flag field in the Tail of the Point Cloud Data Packet obtain azimuth flag of Block m Range in High Performance mode 0 1 2 3 Range in Stan...

Страница 79: ...26 0 0 2431 2431 30559 31804 30209 30209 7 6441 6441 0 0 6091 6091 0 0 6441 6441 6091 6091 8 0 0 4786 4786 0 0 4086 4086 32564 32564 31864 31864 9 0 0 6441 7206 0 0 6091 6091 34219 34984 33869 33869 1...

Страница 80: ...016 12666 12666 12316 12316 12666 12666 12666 12666 29 14951 14951 15301 15301 14951 14951 14601 14601 43079 43079 42379 42379 30 19521 19521 19871 19871 19521 19521 19171 19171 19521 19521 19521 1952...

Страница 81: ...10031 38509 55184 37809 37809 48 10381 10381 10731 10731 10381 10381 10031 10031 38509 38509 37809 37809 49 21806 21806 22156 22156 21806 21806 21456 21456 21806 21806 21806 21806 50 8096 8096 8446 8...

Страница 82: ...19171 19521 19521 19521 19521 68 10381 10381 10731 10731 10381 10381 10031 11426 38509 38509 37809 39204 69 24091 24091 24441 24441 24091 24091 23741 23741 52219 52219 51519 51519 70 10381 10381 1073...

Страница 83: ...06 21806 21806 86 8096 8096 8446 8446 8096 8096 7746 7746 36224 36224 35524 35524 87 12666 12666 13016 13016 12666 12666 12316 12316 12666 12666 12666 12666 88 21806 21806 22156 22156 21806 21806 2145...

Страница 84: ...2781 0 0 2431 2431 30559 30559 30209 30209 107 0 0 776 776 0 0 776 776 28554 28554 28554 28554 108 0 0 4786 4786 0 0 4086 5331 32564 32564 31864 33109 109 6441 6441 0 0 6091 6091 0 0 6441 6441 6091 6...

Страница 85: ...hannel 121 4436 4436 0 0 4436 4436 0 0 4436 4436 4436 4436 122 6441 6441 0 0 6091 6091 0 0 6441 6441 6091 6091 123 0 0 6441 6441 0 0 6091 6856 34219 34219 33869 34634 124 0 0 2781 2781 0 0 2431 2431 3...

Страница 86: ...PTP Protocol The Precision Time Protocol PTP is used to synchronize clocks across a computer network It can achieve sub microsecond clock accuracy LiDAR Connection When Using PTP Figure III 1 Connecti...

Страница 87: ...DAR does not output GPS Data Packets The timestamps and Date Time fields in Point Cloud Data Packets strictly follow the PTP master device Certain PTP master devices may have a specified offset from t...

Страница 88: ...oud Data Packets linearly represents target reflectivity from 0 to 255 Alternatively users may choose the Nonlinear Mapping mode see Section 4 2 Web Control Settings The nonlinear relationship is deta...

Страница 89: ...3 0 87 43 3 07 63 6 5 4 0 04 24 0 95 44 3 21 64 6 7 5 0 05 25 1 05 45 3 36 65 6 9 6 0 08 26 1 15 46 3 5 66 7 1 7 0 11 27 1 25 47 3 64 67 7 3 8 0 13 28 1 35 48 3 79 68 7 5 9 0 15 29 1 45 49 3 93 69 7 7...

Страница 90: ...24 5 144 32 75 85 11 62 105 17 5 125 24 83 145 33 25 86 11 87 106 17 83 126 25 25 146 33 75 87 12 12 107 18 17 127 25 75 147 34 25 88 12 37 108 18 5 128 26 17 148 34 75 89 12 62 109 18 83 129 26 5 149...

Страница 91: ...5 224 79 25 165 43 25 185 54 25 205 66 25 225 79 75 166 43 75 186 54 75 206 66 75 226 80 5 167 44 25 187 55 25 207 67 5 227 81 25 168 44 75 188 55 75 208 68 25 228 81 75 169 45 25 189 56 5 209 68 75 2...

Страница 92: ...near Reflectivity Mapping Continued Reflectivity Index 0 255 Reflectivity 240 90 5 241 91 5 242 92 5 243 93 25 244 93 75 245 94 5 246 95 5 247 96 25 248 96 75 249 97 5 250 98 5 251 99 5 252 132 253 19...

Страница 93: ...ty or fitness for any particular purpose Further Hesai Technology reserves the right to revise this publication and to make changes from time to time in the contents hereof without obligation to notif...

Страница 94: ...Technology Co Ltd Phone 86 400 805 1233 Website www hesaitech com Address Building L2 Hongqiao World Centre Shanghai China Business Email info hesaitech com Service Email service hesaitech com HESAI W...

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