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Hesai Pandar40M User Manual

40-channel mechanical lidar
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Pandar40M
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Summary of Contents for Hesai Pandar40M

  • Page 1 Pandar40M 40-Channel Mechanical LiDAR User Manual HESAI Wechat...

  • Page 2: Table Of Contents

    Contents About This Manual ..................1 Home ..................42 Settings .................. 44 Safety Notice ....................3 Azimuth FOV ................53 1 Introduction ..................10 Operation Statistics .............. 57 Operating Principle .............. 10 Upgrade ................. 58 Lidar Structure ..............11 5 Communication Protocol ..............59 Channel Distribution ............

  • Page 3: About This Manual

    · This lidar product is intended as a component of an end product. It shall be evaluated in end product according to relevant standards. ■ Access to This Manual To obtain the latest version: · Visit the Download page of Hesai's official website: https://www.hesaitech.com/en/download · Or contact your sales representative at Hesai ·...
  • Page 4 ■ Legends Warnings: instructions that must be followed to ensure safe and proper use of the product. Notes: additional information that may be helpful.

  • Page 5: Safety Notice

    Safety Notice ■ Special Warnings Laser Safety Hot Surface Hot parts! Burned fingers when handling the parts. Wait one-half hour after switching off before handling parts.
  • Page 6 Vibration · If significant mechanical shocks and vibration may exist in the product's operating environment, please contact Hesai's technical support team to obtain the shock and vibration limits of this product model. Exposure to over-the-limit shocks or vibration may damage the product.
  • Page 7 Explosive Atmosphere and Other Air Conditions · Do NOT use the product in any area where potentially explosive atmospheres are present, such as high concentrations of flammable chemicals, vapors, or particulates (including particles, dust, and metal powder) in the air. ·...
  • Page 8 · Please check the section in the product's user manual and strictly follow the instructions on plugging/unplugging the connector. If abnormalities already exist (such as bent pins, broken cables, and loose screws), stop using the product and contact Hesai technical support.
  • Page 9 Hesai technical support. · Do NOT squeeze or pierce the product. If the product enclosure is broken, stop using it immediately and contact Hesai technical support. · The product contains high-speed rotating parts. To avoid potential injuries, do NOT operate the product if the enclosure is loose.
  • Page 10 Using off-spec or unsuitable devices may result in product damage or even personal injuries. Firmware and Software Upgrading Make sure to use only the upgrade files provided by Hesai Technology. Make sure to observe all the instructions provided for that upgrade file. Custom Firmware and Software ·...
  • Page 11 Repair Unless expressly agreed to in writing by Hesai Technology, do NOT by yourself or entrust any third party to disassemble, repair, modify, or retrofit the product. Such a breach: · can result in product damage (including but not limited to water resistance failure), property loss, and/or personal injuries;...

  • Page 12: Introduction

    1 Introduction This manual describes the specifications, installation, and data output format of Pandar40M. Operating Principle 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 reflected after hitting the target object. The returning beam is detected by an optical sensor.

  • Page 13: Lidar Structure

    Lidar Structure 40 pairs of laser emitters and receivers are attached to a motor that rotates horizontally. Figure 1.2 Partial Cross-Sectional Diagram Figure 1.3 Coordinate System (Isometric View) Figure 1.4 Rotation Direction (Top View) The lidar's coordinate system is illustrated in Figure 1.3. Z-axis is the axis of rotation. The origin is shown as a red dot in Figure 1.6 on the next page.

  • Page 14: Channel Distribution

    · Send this PTC command , as described in Hesai TCP API Protocol (Chapter 5). · Or export the file using PandarView, see the PandarView user manual. · Or contact a sales representative or technical support engineer from Hesai. -12-...

  • Page 15: Specifications

    Specifications SENSOR MECHANICAL/ELECTRICAL/OPERATIONAL Scanning Method Mechanical Rotation Wavelength 905 nm Channel Laser Class Class 1 Eye Safe Range Capability 0.3 to 120 m (at 10% reflectivity) Ingress Protection IP6K7 Range Accuracy ① ±5 cm 0.3 to 1 m Dimensions Height: 104.7 mm ±2 cm 1 to 120 m...
  • Page 16 (Continued) ① Range accuracy · Defined as the average range error across all channels. · May vary with range, temperature, and target reflectivity. ② Power consumption · Not including accessories such as the connection box. · The external power supply should be able to provide at least 15 W. ③...

  • Page 17: Setup

    2 Setup Mechanical Installation Figure 2.1 Front View (Unit: mm) -15-...
  • Page 18 Figure 2.2 Bottom View (Unit: mm) -16-...
  • Page 19 2.1.1 Quick Installation Figure 2.3 Quick Installation -17-...
  • Page 20 2.1.2 Stable Installation Figure 2.4 Stable Installation -18-...
  • Page 21 2.1.3 Notes on Screw Installation ■ Screw Type SEMS screws (with pre-attached flat washers and lock washers) are recommended. Property class should be at least 4.8. ■ Threadlocker Before fastening a screw, apply 1 or 2 dots of threadlocker in the thread fit area. LOCTITE® 263 Threadlocker is recommended. To ensure curing in place, wait for at least 12 hours before operating the lidar.

  • Page 22: Interfaces

    Interfaces Lemo Contact is the default communication connector. (Another option is the Phoenix Contact, detailed in the appendix) Lemo part number: FGG.2T.316.CLAC75Z (male plug, on the lidar) From the eye to the interface Figure 2.5 Lemo Connector (Male Plug) Pin # Signal Color Voltage...
  • Page 23 The timing requirements of GPS PPS and GPS Serial Data (NMEA) are shown below: NMEA PPS cycle t3 = 1 s ±50 μs (rising edge to rising edge) PPS pulse width t1 ≥ 1 ms (10 to 100 ms recommended) Timing relationship NMEA signal starts after the PPS rising edge of the current second, and ends after the PPS falling edge of the current second, as shown by the gray arrows in figure above.
  • Page 24 · In case a connector's shell is accidentally pulled off, stop using the connector and contact Hesai technical support. · DO NOT attempt to assemble the connector's shell and cable collet; DO NOT connect a connector without its shell. Doing so may damage the lidar's circuits.

  • Page 25: Connection Box (Optional)

    Connection Box (Optional) Users 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: PHG.2T.316.CLLC75Z (female socket, on the connection box) Figure 2.7 Connection Box (Unit: mm) -23-...
  • Page 26 2.3.1 Connection Box Interfaces Figure 2.8 Connection Box (Front) Figure 2.9 Connection Box (Back) Port # Port Name Description Standard Ethernet Port RJ45, 100 Mbps Ethernet Power Port Use DC-005 DC power adapter GPS Port Connector type: JST SM06B-SRSS-TB Recommended connector for the external GPS module: JST SHR-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:...
  • Page 27 2.3.2 Connection Figure 2.10 Connection Box (Connection with GPS) -25-...
  • Page 28 Figure 2.11 Connection Box (Connection with PTP) -26-...

  • Page 29: Get Ready To Use

    To set parameters, check device info, or upgrade firmware/software, see Chapter 4 (Web Control) To obtain the SDKs (Software Development Kits) for your product model, · please find the download link at: www.hesaitech.com/en/download (Product Documentation → select product model) · or visit Hesai's official GitHub page: https://github.com/HesaiTechnology -27-...

  • Page 30: Data Structure

    3 Data Structure The lidar outputs Point Cloud Data Packets and GPS Data Packets using 100 Mbps Ethernet UDP/IP. Unless otherwise specified, all the multi-byte fields are unsigned values in little endian format. Figure 3.1 Data Structure with UDP Sequence OFF UDP sequence is OFF by default.

  • Page 31: Point Cloud Data Packet

    Point Cloud Data Packet 3.1.1 Ethernet Header Each lidar has a unique MAC address. The source IP is 192.168.1.201 by default, and the destination IP is 255.255.255.255 (broadcast). Point Cloud Ethernet Header: 42 bytes Field Bytes Description Ethernet II MAC Destination: broadcast (0xFF: 0xFF: 0xFF: 0xFF: 0xFF: 0xFF) Source: (xx:xx:xx:xx:xx:xx) Ethernet Data Packet Type...
  • Page 32 3.1.2 UDP Data ■ Ranging Data: 1240 bytes (10 blocks) Block 1 Block 2 Block 3 Block 10 0xFFEE 0xFFEE 0xFFEE 0xFFEE Azimuth 1 Azimuth 2 Azimuth 3 Azimuth 10 Channel 1 Channel 1 Channel 1 Channel 1 Channel 2 Channel 2 Channel 2 Channel 2...
  • Page 33 ■ Additional Information: 22/26 bytes when UDP sequence is OFF/ON Field Bytes Description Reserved High Temperature 0x01 for high temperature; 0x00 for normal operation Shutdown Flag · When high temperature is detected, the shutdown flag will be set to 0x01, and the system will shut down after 60 s.
  • Page 34 Field Bytes Description The absolute UTC time of this data packet（defined in Appendix II – Absolute time of Point Cloud Date & Time Data), accurate to the second. Each Byte Range (Decimal) Year (current year minus 2000) Positive integers Month 1 to 12 1 to 31 Hour...
  • Page 35 3.1.3 Point Cloud Data Analysis Take Channel 5 in Block 3 as an example: ■ Analyze the vertical angle of a data point The designed vertical angle of Channel 5 is 3.00°, according to Appendix I (Channel Distribution) Notes · The accurate vertical angle is recorded in this LiDAR's unit's angle correction file, see Section 1.3 (Channel Distribution). ·...
  • Page 36 ④ Firing time offset of the channel Look up the table in Appendix II (Absolute Time of Point Cloud Data). ⑤ Spin rate of the motor See Section 4.1 (Web Control – Home). ■ Analyze the distance of a data point Actual distance in real world millimeters = distance measurement * Distance Unit Distance measurement: Distance field of Channel 5 in Block 3 Distance Unit: 4 mm...

  • Page 37: Gps Data Packet

    GPS Data Packet When GPS is selected as the clock source (see Section 4.2 Web Control - Settings), GPS Data Packets are triggered every second. When PTP is selected as the clock source, the LiDAR does not output GPS Data Packet. All the multi-byte values are unsigned and in little endian format.
  • Page 38 3.2.1 Ethernet Header The source IP is 192.168.1.201 by default. The destination IP address is 255.255.255.255 and in broadcast form. GPS Ethernet Header: 42 bytes Field Bytes Description Ethernet II MAC Destination: broadcast (0xFF: 0xFF: 0xFF: 0xFF: 0xFF: 0xFF) Source: (xx:xx:xx:xx:xx:xx) Ethernet Data Packet Type 0x08, 0x00 Internet Protocol...
  • Page 39 3.2.2 UDP Data GPS UDP data: 512 bytes Field Bytes Description GPS Time Data Header 2 bytes 0xFFEE (0xFF first) Date 6 bytes Year, month, and day (2 bytes each, lower byte first) in ASCII Time 6 bytes Second, minute, and hour (2 bytes each, lower byte first) in ASCII Reserved 4 bytes GPRMC/GPGGA Data...
  • Page 40 ■ GPRMC Data Format $GPRMC, <01>, <02>, <03>, <04>, <05>, <06>, <07>, <08>, <09>, <10>, <11>, <12>*hh Field # Field Description <01> UTC Time Hour, minute, and second Typically in hhmmss (hour, minute, second) format <02> Location Status A (hex = 41) for Valid Position V (hex = 56) for Invalid Position NUL (hex = 0) for GPS being unlocked <09>...
  • Page 41 ■ GPGGA Data Format $GPGGA, <01>, <02>, <03>, <04>, <05>, <06>, <07>, <08>, <09>, <10>, <11>, <12>*hh Field # Field Description <01> UTC Time Hour, minute, and second Typically in hhmmss (hour, minute, second) format <06> GPS Fix Quality 0 = invalid 1 = GPS fix (SPS) 2 = DGPS fix 3 = PPS fix...
  • Page 42 3.2.3 GPS Data Analysis Figure 3.4 GPS Data Packet - UDP Data (Example) Date Field Data (ASCII Code) Characters Meaning Year 0x30 0x32 '0', '2' Month 0x34 0x30 '4', '0' 0x37 0x30 '7', '0' Time Field Data (ASCII Code) Characters Meaning Second 0x38 0x35...

  • Page 43: Web Control

    4 Web Control Web control is used for setting parameters, checking device 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 browser: 192.168.1.201 Google Chrome and Mozilla Firefox are recommended.

  • Page 44: Home

    Home Status Spin Rate 600 rpm Unlock NMEA (GPRMC/GPGGA) Unlock Free Run Device Info Device Log Model Pandar40M PA64XXXXXXXXXXXXXX MAC Address XX:XX:XX:XX:XX:XX Software Version 2.9.12 Sensor Firmware Version 4.3.44 Controller Firmware Version 4.53 Button Description Device Log Click to download a .JSON file that contains the lidar status, device info, all configurable parameters, and the upgrade log.
  • Page 45 Parameter Description Spin Rate Spin Rate of the motor (rpm) = frame rate (Hz) * 60 GPS (PPS) status Lock Lidar's internal clock is in sync with GPS PPS Unlock Not in sync NMEA NMEA status (GPRMC/GPGGA) Lock After receiving a valid NMEA message Unlock Not receiving a valid NMEA message for over 2 s PTP status...

  • Page 46: Settings

    Settings Reset All Settings Control IP IPv4 Address 192.168.1.201 IPv4 Mask 255.255.255.0 IPv4 Gateway 192.168.1.1 VLAN □ Settings Destination IP 255.255.255.255 Lidar Destination Port 2368 Spin Rate 600 rpm Return Mode Dual Return UDP Sequence Sync Angle □ Trigger Method Time Based Clock Source GPS Mode...
  • Page 47 (Continued) Noise Filtering Interstitial Points Filtering Retro Multi-Reflection Filtering Reflectivity Mapping Linear Mapping Standby Mode In Operation / Standby Save Button Description Reset All Settings Reset all the configurable parameters to factory defaults, including: · Section 4.2 (Settings) · Section 4.3 (Azimuth FOV) Save Save and execute all the settings on this page.
  • Page 48 4.2.1 Network Settings Parameter Options Description VLAN Default: OFF To enable VLAN tagging: VLAN ID: 1 ~ 4094 · Make sure the receiving host also supports VLAN. · Check the checkbox and input the lidar's VLAN ID (same as the receiving host's VLAN ID).
  • Page 49 4.2.2 Function Settings Parameter Options Description Spin Rate 600 RPM (default) The setting spin rate is also shown on web control, see Section 4.1 (Web Control – 1200 RPM Home). Return Mode Single Return Also shown in Point Cloud Data Packets, see the Return Mode field in Section 3.1.2 ·...
  • Page 50 Parameter Options Description Sync Angle 0° to 360° Phase lock angle · To activate this function, check the checkbox and input an azimuth. · At every full second, the lidar will rotate to that azimuthal position. Lidar azimuthal position is defined in Section 1.2 (Lidar Structure). Definition of full second ·...
  • Page 51 Parameter Options Description Interstitial Points OFF (default) To mitigate the interstitial points. Filtering Definition of interstitial points: when a beam partially hits on a front target's edge and further hits on a rear target, the return signal can result in a false point located between both targets.
  • Page 52 4.2.3 Time Settings Clock Source GPS Mode GPRMC GPS Destination Port 10110 Clock Source Profile 1588v2 Time Offset for Lidar Lock PTP Network Transport UDP/IP PTP Domain Number PTP logAnnounceInterval PTP logSyncInterval PTP logMinDelayReqInterval Parameter Options Description Clock Source GPS (default) External source of absolute time -50-...
  • Page 53 ■ With GPS Selected Parameter Options Description GPS Mode GPRMC (default) Format of the NMEA data received from the external GPS module, see Section 3.2.2 (GPS GPGGA UDP Data) Destination Port Default: 10110 Port used for sending GPS Data packets ■...
  • Page 54 When using the 1588v2 profile: Parameter Options Description -2 to 3 Time interval between Announce messages logAnnounceInterval Default: 1 Default: 1 log second (2 seconds) -7 to 3 Time interval between Sync messages logSyncInterval Default: 1 Default: 1 log second (2 seconds) -7 to 3 Minimum permitted mean time between Delay_Req messages logMinDelayReqInterval...

  • Page 55: Azimuth Fov

    Azimuth FOV Button Description Save Save and execute all the settings on this page. Parameter Options Description Azimuth FOV Setting For all channels (default) Configuration mode of the azimuth FOV. The lidar outputs valid data only within the specified azimuth FOV ranges. Multi-section FOV Note ·...
  • Page 56 4.3.1 For all channels Input a Start Angle and an End Angle to form a continuous angle range. This range applies to all channels. -54-...
  • Page 57 4.3.2 For each channel Users can configure one continuous angle range for each channel. Each channel outputs valid data only within its specified range. The "Status" button for each channel is gray by default, indicating that the angle range is [0°, 360°]. To activate the angle range configuration for each channel, click the corresponding button to make it green.
  • Page 58 4.3.3 Multi-section FOV Users can configure up to ten continuous angle ranges (i.e. sections) for each channel. Each channel outputs valid data only within its specified ranges. The "Status" button for each channel is gray by default, indicating that the angle range is [0°, 360°]. To activate the angle range configuration for each channel, click the corresponding button to make it green.

  • Page 59: Operation Statistics

    Operation Statistics These operating parameters are shown in real time: Start-Up Counts Internal Temperature 32.10℃ System Uptime 0 h 5 min Total Operation Time 559 h 43 min Internal Temperature Operation Time < -40 ℃ 0 h 1 min -40 to -20 ℃ 0 h 46 min 100 to 120 ℃...

  • Page 60: Upgrade

    Upgrade Preparation · Please contact Hesai technical support to receive encrypted and signed upgrade files. · During the upgrade, it is recommended to place a protective leather cover (supplied with the lidar) or other opaque material over the lidar's cover lens.

  • Page 61: Communication Protocol

    5 Communication Protocol To receive Hesai lidar's PTC (Pandar TCP Commands) and HTTP API Protocols, please contact Hesai technical support. -59-...

  • Page 62: Sensor Maintenance

    6 Sensor Maintenance ■ Cleaning Stains on the product's cover lens, such as dirt, fingerprints, and oil, can negatively affect point cloud data quality. Please perform the following steps to remove the stains. Warnings · Turn OFF the power source before cleaning. ·...
  • Page 63 (Continued) 4) When the stains have loosened, dip a piece of lint-free wipe into the solvent made in Step 3, and gently wipe the cover lens back and forth along its curved surface. 5) Should another cleaning agent be applied to remove certain stains, repeat Steps 3 and 4. 6) Spray the cover lens with clean water, and gently wipe off the remaining liquid with another piece of lint-free wipe.

  • Page 64: Troubleshooting

    7 Troubleshooting In case the following procedures cannot solve the problem, please contact Hesai technical support. Symptoms Points to Check Verify that · power adapter is properly connected and in good condition Indicator light is off on · connection box is intact the connection box ·...
  • Page 65 · if VLAN is enabled, the PC's VLAN ID is the same with the lidar's Wireshark but not on · the latest PandarView version (see the Download page of Hesai's official website or contact Hesai technical PandarView support) is installed on the PC Power on again to check if the symptom persists.
  • Page 66 Symptoms Points to Check Verify that · Ethernet cable is properly connected (by unplugging and plugging again) · Lidar's IP is in the same subnet with the PC's. Users may use WireShark to check the lidar's IP that broadcasts data packets Cannot open web ·...
  • Page 67 · If no packet is missing and yet the point cloud flashes, please update PandarView to the latest version (see the FOV) Download page of Hesai's official website or contact Hesai technical support) and restart the PC If the point cloud is still abnormal ·...

  • Page 68: Appendix I Channel Distribution

    Appendix I Channel Distribution The Horizontal Angle (Azimuth) Offsets and Vertical Angles (Elevation) in the table next page are design values. The accurate values are in this lidar's unit's angle correction file, see Section 1.3 (Channel Distribution) and Section 3.1.3 (Point Cloud Data Analysis).
  • Page 69 Channel Distribution (To Be Continued) Channel # Horizontal Angle Offset Vertical Angle Instrument Range Range (in meters) in UDP Data (Azimuth) (Elevation) (in meters) with Reflectivity 01 (Top Beam) -1.042° 15.00° 120@10% -1.042° 11.00° 120@10% -1.042° 8.00° 120@10% -1.042° 5.00° 120@10% -1.042°...
  • Page 70 Channel Distribution (Continued) Channel # Horizontal Angle Offset Vertical Angle Instrument Range Range (in meters) in UDP Data (Azimuth) (Elevation) (in meters) with Reflectivity -1.042° -3.00° 120@10% 3.125° -3.33° 120@10% -5.208° -3.67° 120@10% -1.042° -4.00° 120@10% 3.125° -4.33° 120@10% -5.208° -4.67°...

  • Page 71: Appendix Ii Absolute Time Of Point Cloud Data

    Appendix II Absolute Time of Point Cloud Data ■ Source of Absolute Time The lidar retrieves the current absolute time by connecting to an external clock source (GPS/PTP). Users can select the clock source, see Section 4.2 (Web Control - Settings). -69-...
  • Page 72 1) GPS as the Clock Source · The lidar connects to a third-party GPS module to obtain the PPS (pulse-per-second) signal and the NMEA sentence ($GPRMC or $GPGGA). · Users may select either $GPRMC or $GPGGA sentences, see Section 4.2 (Web Control – Settings). ·...
  • Page 73 2) PTP as the Clock Source · The lidar connects to a third-party PTP master to obtain the absolute time. · Users may configure the PTP settings, see Section 4.2 (Web Control – Settings). · Users may check the PTP signal status, see Section 4.1 (Web Control - Home). ·...
  • Page 74 ■ Absolute Time of Point Cloud Data Packets Definition · Every time the lidar passes a fixed time Δt or azimuth interval Δα (see Section 4.2 Web Control – Trigger Method), it sends a command that triggers a round of firing. ·...
  • Page 75 ■ End Time of Each Block Assuming the absolute time of a Point Cloud Data Packet is t0, the end time of each block (i.e., time when the last firing ends) can be calculated. Block End Time (μs) Block End Time (μs) Block 10 t0 - 28.58 Block 10 &...
  • Page 76 ■ Firing Time Offset of Each Channel Assume that the end time of Block m is T(m), m ∈ {1, 2, ..., 10}, then the laser firing time of Channel n in Block m is t(m, n) = T(m) + Δt(n), n ∈ {1, 2, …, 40}.

  • Page 77: Appendix Iii Phoenix Contact

    Appendix III Phoenix Contact Phoenix Contact can be used as the lidar's communication connector, in place of the default Lemo Contact in Section 2.2 (Interfaces). Phoenix part number: SACC-M12MS-8CON-PG 9-SH - 1511857 (male, on the lidar) SACC-M12FS-8CON-PG 9-SH - 1511860 (female, on the connecting box) From the eye to the interface Pin #...

  • Page 78: Appendix Iv Nonlinear Reflectivity Mapping

    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 Chapter 4 (Web Control - Settings). The nonlinear relationship is detailed below. Reflectivity Index (0~255) -76-...
  • Page 79 Nonlinear Reflectivity Mapping (Continued on the Next Page) Reflectivity Index Reflectivity Reflectivity Index Reflectivity Reflectivity Index Reflectivity Reflectivity Index Reflectivity (0~255) (0~255) (0~255) (0~255) 0.67 2.69 0.01 0.75 2.81 0.02 0.81 2.94 0.03 0.87 3.07 0.04 0.95 3.21 0.05 1.05 3.36 0.08 1.15...
  • Page 80 Nonlinear Reflectivity Mapping (Continued on the Next Page) Reflectivity Index Reflectivity Reflectivity Index Reflectivity Reflectivity Index Reflectivity Reflectivity Index Reflectivity (0~255) (0~255) (0~255) (0~255) 10.17 15.87 22.83 31.17 10.5 16.17 23.25 31.5 10.83 16.5 23.75 31.83 11.12 16.83 24.17 32.25 11.37 17.17 24.5...
  • Page 81 Nonlinear Reflectivity Mapping (Continued on the Next Page) Reflectivity Index Reflectivity Reflectivity Index Reflectivity Reflectivity Index Reflectivity Reflectivity Index Reflectivity (0~255) (0~255) (0~255) (0~255) 40.5 51.25 63.25 76.5 41.25 51.75 63.75 77.25 41.75 52.25 64.5 77.75 42.25 52.75 65.25 78.5 42.75 53.5 65.75...
  • Page 82 Nonlinear Reflectivity Mapping (Continued) Reflectivity Index Reflectivity (0~255) 90.5 91.5 92.5 93.25 93.75 94.5 95.5 96.25 96.75 97.5 98.5 99.5 -80-...

  • Page 83: Appendix V Legal Notice

    Appendix V Legal Notice Copyright 2021 by Hesai Technology. All rights reserved. Use or reproduction of this manual in parts or its entirety without the authorization of Hesai is prohibited. Hesai Technology makes no representations or warranties, either expressed or implied, with respect to the contents hereof and specifically disclaims any warranties, merchantability, or fitness for any particular purpose.
  • Page 84 Hesai Technology Co., Ltd. Phone: +86 400 805 1233 Business Email: info@hesaitech.com Website: www.hesaitech.com Service Email: service@hesaitech.com Address: Building L2, Hongqiao World Centre, Shanghai, China HESAI Wechat...

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