RoboSense RS-Bpearl, Руководство пользователя

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RS-Bpearl User Manual
Appendix C RSView
In this appendix, the record, visualization, save and redisplay of the data from RS-Bpearl
will be interpreted with using RSView. The original sensor data can be also captured and
examined by using other free tools, such as Wireshark or TCP-Dump. But visualization of
the 3D data through using RSView is easy to realize. RS-Bpearl is used with RSView
vision 3.1.5. or above
C.1 Software Features
RSView can provide real-time visualization of 3D coordinate data from RS-Bpearl.
RSView can also review the pre-recorded data stored in “pcap” (Packet Capture) files, but
RSView still doesn’t support directly importing “.pcapng” files.
RSView displays directly the point cloud that is exchanged from the measured distance
from RS-Bpearl. It supports changing the display mode of point cloud as user wishes,
according to Reflectivity, timestamp, distance, azimuth, and laser channel. The data can
be exported as XYZ coordinate data in CSV format or LAS format. RSView does not
support generating point cloud files in XYZ, or PLY formats.
Function and features of RSView are shown as follow:

Online visualization of sensor data over Ethernet

Record of real-time data into pcap files

Review of the collected point cloud from pcap files

Different visualization mode based on distance, timestamp, azimuth, laser ID,
etc.

Tabular inspection of point cloud data

Exporting the point cloud data into CSV format

Tool for measuring distance from visualized cloud point

Simultaneously Display of multiple continuous frames (Trailing frames)

Display or hide subsets of lasers

Crop tool to show partial point cloud
C.2 Installation of RSView
Installation packet of RSView is suited for Windows 64-bit system and it has no need for
other dependent software packets.
The latest version of executable installation packet can be found from RoboSense website
(http://www.robosense.ai/resource). Launch the installation packet and follow the
instructions to complete the installation. The installation path should not contain any
Chinese characters.
C.3 Network Setup
As mentioned in the chapter 5, the default IP address of the computer should be set as
192.168.1.102, sub-net mask should be 255.255.255.0. You should make sure RSView
doesn’t be blocked by firewall in PC.
C.4 Visualization of point cloud
1. Connect the RS-Bpearl to PC over Ethernet cables and power supply.