Cepton Sora 200 User Manual

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SORA 200

User Guide

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Summary of Contents for Cepton Sora 200

Page 1 SORA 200 User Guide...
Page 2: Table Of Contents
Table of Contents Table of Contents Revision History Warnings Specifications Getting Started CeptonViewer Data Exporter Configuration Accessories Troubleshooting Cables Drawings Page 2 of 25...
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Page 5: Warnings
Warnings The sensor is Class 1 eye safe. Page 5 of 25...
Page 6: Specifications
Specifications Performance Angular Resolution (H x V) 0.2° Data Rate (points per second) 102400 Detection Range 1m - 200m 60° x 18° Frame Rate 200Hz Lines (H x V) 300 x 2 Output 100 Mbps Ethernet, UDP Packet PPS/NMEA Range Resolution 2.5cm Mechanical Dimensions (W x D x H)
Page 7 Aerial Mapping Given a SORA sensor mounted vertically on an aerial platform, moving perpendicular to the scanline direction, the following equations estimate mapping point density: height [m]: sensor height above ground speed [m / s]: speed perpendicular to scanline direction sweep [m]: ground sweep distance along scanline direction density [points / m^2]: points per ground area sweep = ±...
Page 8: Getting Started
Getting Started Website: http://www.cepton.com/ Developers: https://github.com/ceptontech/ Mounting the Sensor The sensor vibrates during normal operation. If not properly mechanically isolated, it can cause excessive audible noise or interference to other sensors that are sensitive to vibration. We recommend mounting the sensor using vibration isolating rubber or foam. If using the sensor on a tripod, ensure that the tripod is rigid and does not vibrate excessively when the sensor is powered on.
Page 9 Troubleshooting. Capture The Cepton tools support loading PCAP network capture files for reviewing sensor data offline. A PCAP file can be saved using CeptonViewer, Wireshark, tcpdump, or any other network capture tool. The PCAPNG file format is not supported.
Page 10: Ceptonviewer
CeptonViewer Downloads CeptonViewer can be downloaded from our SDK repository: https://github.com/ceptontech/cepton_sdk_redist. Windows x64: cepton_sdk_redist/bin/win64/CeptonViewer.exe Linux x64: cepton_sdk_redist/bin/linux-x86_64/CeptonViewer Mac: cepton_sdk_redist/bin/osx/CeptonViewer ARM x64: cepton_sdk_redist/bin/linux-aarch64/CeptonViewer Getting Started On Windows, a firewall popup will appear the first time CeptonViewer is launched. Select "Allow access" for both private and public networks. The main menu is located on the left side of the screen.
Page 11 Transforms CeptonViewer has support for viewing multiple sensors either individually or combined. To view the sensors combined, the sensor transforms must be specified. First, to enable transforms, ensure that -> are both selected. The transforms can then be Show Advanced Transforms Enable either inputed directly in the viewer or loaded from a JSON file.
Page 12 Command Help Hide GUI Replay Command Pause/Resume SPACE View Command Mouse Keyboard + Mouse Keyboard Rotate View LButton Arrow Keys Translate View MButton Control LButton Control Arrow Keys Zoom View RButton Shift LButton Shift Arrow Keys Command Reset View Origin Front View Top View Side View...
Page 13: Data Exporter
Mac: cepton_sdk_redist/bin/osx/data_exporter ARM64: cepton_sdk_redist/bin/linux-aarch64/data_exporter Usage USAGE data_exporter [OPTIONS] OUTPUT_FILE DESCRIPTION Exports Cepton LIDAR data to a file. FORMATS `csv` CSV file format. `bin` Binary file format. Array of `CeptonSensorPoint` structs. OPTIONS -c CAPTURE_FILE Load data from capture file. -n N_FRAMES Number of frames to capture.
Page 14: Configuration
Destination port (default: 8808 Sensor IP address Download the serial tool: http://cepton.com/downloads/cepton_serial_redist.py. Install Python dependencies. $ pip install ipaddress pyserial Connect the sensor's serial cable to the host computer using a serial -> USB cable. Connect the sensor's power supply.
Page 15: Sdk
$ cmake -G "Visual Studio 14 Win64" .. $ start "cepton_sdk_redist.sln" Unix $ mkdir build $ cd build $ cmake .. $ make Basic Interaction Initialization To start interacting with the Cepton SDK, call with an cepton_sdk_initialize on_event callback. Page 15 of 25...
Page 16 #include <cepton_sdk.h> void on_event(int error_code, CeptonSensorHandle sensor, struct CeptonSensorInformation const *p_info, event) (error_code < 0) { // Handle error return; switch(event) { case CEPTON_EVENT_ATTACH: // Handle new sensor break; case CEPTON_EVENT_FRAME: // Handle new frame break; int main(int argc, char ** argv) { cepton_sdk_initialize(CEPTON_SDK_VERSION, 0, on_event);...
Page 17 To use multiple returns feature, the SDK needs to be initialized with control flag set. CEPTON_SDK_CONTROL_ENABLED_MULTIPLE_RETURNS Currently Cepton sensors only support up to 2 returns. First return is always the strongest signal. Second return is the last detectable signal if it is not the strongest. Otherwise it is the second strongest signal detectable.
Page 18: Ros
If you have not done so already, install ROS, and create a catkin workspace. Change to the catkin workspace directory. Clone the Cepton ROS driver. $ git clone --recursive git@github.com:ceptontech/cepton_ros.git src/cepton_ros Run catkin make. $ catkin_make Source the catkin setup script.
Page 19 If it is a ROS issue, contact Cepton for support. Reference Driver Nodelet The driver nodelet is a thin wrapper around the Cepton SDK. It publishes sensor messages and PointCloud2 topics for each sensor. The point type definitions can be found in include/cepton_ros/point.hpp. cepton_ros::CeptonImagePoint...
Page 20: Accessories
Accessories Interface Box Interface box front. Interface box back. Specifications Dimensions (W x H x D) 17cm x 11.5cm x 5.5cm Getting Started Connect the sensor serial cables to the serial ports on the front of the interface box. Connect the sensor Ethernet cables to the Ethernet ports on the front of the interface box.
Page 21 Cable connections. Multiple Boxes Each interface box only supports 3 sensors, so multiple interface boxes may be necessary. Use a DB9 splitter to connect the GPS unit to both boxes. Chain the Ethernet hubs together using an ethernet cable. The host computer's Ethernet only needs to be connected to an Ethernet port on one box. Page 21 of 25...
Page 22: Troubleshooting
Getting Started guide). You can hold the sensor in your hand to determine if the noise is coming directly from the sensor. If loud vibration, knocking or buzzing noises are heard from the sensor, contact Cepton for support. Networking Issue Download...
Page 23: Cables
Cables Sensor Pinout Color Name Connector 12V Input Barrel Jack Tip Black DB9 Pin 5; Barrel Jack Sleeve Orange Ethernet RX+ RJ45 Pin 3 Light Orange Ethernet RX- RJ45 Pin 6 Light Blue Ethernet TX+ RJ45 Pin 1 Blue Ethernet TX- RJ45 Pin 2 Brown RS-232 DCD;...
Page 24: Drawings
Drawings Case Drawing: http://www.cepton.com/downloads/sora_200_drawing.pdf CAD: http://www.cepton.com/downloads/sora_200.step Page 24 of 25...
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