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Hesai AT128P User Manual

128-channel hybrid solid-state lidar
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AT128P
128-Channel Hybrid Solid-State Lidar
User Manual
Classification: Public
Doc Version: A02-en-240910

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Summary of Contents for Hesai AT128P

  • Page 1 AT128P 128-Channel Hybrid Solid-State Lidar User Manual Classification: Public Doc Version: A02-en-240910...

  • Page 2: Table Of Contents

    Table of Contents ■ About this manual ........................ ...
  • Page 3 2.2.1. Pin description....................... .  ...
  • Page 4 5. Communication protocol...................... ...

  • Page 5: About This Manual

    Access to this manual To obtain the latest version, please do one of the following: Visit the Download page of Hesai's official website: https://www.hesaitech.com/downloads/ •...

  • Page 6: Safety Notice

    Should there be other agreements with specific users, the other agreements shall apply. • Before using a product, please confirm with Hesai the development maturity of the product in a timely manner. For products still in development, • Hesai makes no warranty of non-infringement nor assumes any responsibility for quality assurance.

  • Page 7: Operating Environment

    If any device or equipment in the nearby environment malfunctions. • Meanwhile, contact Hesai or an authorized Hesai service provider for more information on product disposal. Prohibition of disassembly Unless expressly agreed to in writing by Hesai, do NOT disassemble the product.
  • Page 8 Operating environment Vibration If significant mechanical shocks and vibration exist in the product's operating environment, please contact Hesai's technical support to obtain • the shock and vibration limits of your product model. Exposure to over-the-limit shocks or vibration may damage the product.

  • Page 9: Personnel

    The product should be operated by professionals with engineering backgrounds or experience in operating optical, electrical, and mechanical instruments. Please follow the instructions in this manual when operating the product and contact Hesai technical support if needed. Medical device interference Some components in the product can emit electromagnetic fields.
  • Page 10 Do NOT use out-of-spec or damaged cables or adapters. • You are recommended to use only the cables and power adapters provided by Hesai. If you are to design, configure, or select the power supply • system (including cables) for the product, make sure to comply with the electrical specifications in the product's user manual (refer to Section 1.5 Specifications...
  • Page 11 • immediately and contact 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. • Certain product models contain high-speed rotating parts. To avoid potential injuries, do NOT operate the product if the enclosure is loose.
  • Page 12 Firmware and software upgrading Make sure to use only the upgrade files provided by Hesai. Make sure to observe all the instructions provided for that upgrade file. Customized firmware and software Before using a customized version of firmware and software, please fully understand the differences in functions and performance between the •...

  • Page 13: Repair

    To learn about the supported functions of a product model, please contact Hesai technical support. • Repair Unless expressly agreed to in writing by Hesai, do NOT disassemble, repair, modify, or retrofit the product by yourself or entrust any third party to • do so. Such a breach: ◦...

  • Page 14: Introduction

    The laser pulses are reflected after hitting the target object. The returning beam is detected by an optical sensor. Distance to the object can be accurately measured by calculating the time between laser emission and receipt.   d: Distance c: Speed of light t: Travel time of the laser beam AT128P | 10...

  • Page 15: Basic Structure

    A rotating mirror is used for horizontal scanning, shown as the dotted box in Figure The lidar's azimuthal position (i.e., azimuth of the current firing channel) is defined in Figure The mirror rotates clockwise in the top view. • Y-axis corresponds to 0°. • AT128P | 11...

  • Page 16: Channel Distribution

    Each channel has an intrinsic angle offset, both horizontally and vertically. The offset angles are recorded in this lidar unit's angle correction file • (see Section A.2 Angle correction file). Figure 4. Channel vertical distribution Figure 5. Origin of coordinates (unit: mm) AT128P | 12...

  • Page 17: Specifications

    Near-field (0.5 to 7.2 m): 0.8°  Frame rate 10/20 Hz Return mode Single Return: Last/Strongest/First Dual Return: Last and Strongest, Strongest and First MECHANICAL/ELECTRICAL/OPERATIONAL Wavelength 905 nm Laser class Class 1 Eye Safe Ingress protection IP6K7 & IP6K9K AT128P | 13...
  • Page 18 Dual Return: 111.8/223.6 Mbps (avg/peak) Clock source PTP (802.1AS Automotive, 802.1AS AUTOSAR) PTP clock accuracy ≤1 μs PTP clock drift ⑦ ≤5 μs/s  Specifications are subject to change. Please refer to the latest version of this manual. AT128P | 14...
  • Page 19 In Dual Return Mode, the number of valid data points is twice that in Single Return Mode. • The actual horizontal FOV of each mirror surface is slightly larger than 120°, so the actual data points are • slightly more than the valid data points. AT128P | 15...
  • Page 20 Since the duty cycle for point cloud data transmission is approximately 50%, the peak data rate is • approximately twice the average data rate in the table. ⑦ PTP clock drift Defined as the drift at a constant temperature after the lidar (slave clock) loses connection to the PTP master. AT128P | 16...

  • Page 21: Setup

    The information in this section may be different for customized models. The mechanical drawings and data exclusively provided for  customized models shall prevail. 2.1. Mechanical installation Figure 6. Right side view (unit: mm) Figure 7. Front view (unit: mm) AT128P | 17...
  • Page 22 2.1. Mechanical installation Figure 8. Bottom view (unit: mm) AT128P | 18...

  • Page 23: Typical Mounting Structure

    2.1. Mechanical installation 2.1.1. Typical mounting structure The through holes on the lidar base can be used to mount the lidar. Figure 9. Through holes on the lidar base   Figure 10. Supporting bracket on the vehicle body AT128P | 19...

  • Page 24: Screw Holes On The Lidar

    The mounting scheme should not damage the lidar (including the screw thread). • 2.1.3. Mounting rigidity and modalities Please provide details about the mounting structure to Hesai for assessment, as any deviation in the mounting surface can impair lidar • performance.

  • Page 25: Position

    2.1. Mechanical installation 2.1.4. Mounting position The lidar's FOV should not be obscured. • The mounting height should be over 300 mm above the ground. • Figure 11. Lidar's FOV AT128P | 21...

  • Page 26: Coordinate Systems

    However, the evaluation of thermal risks should not be carried out on the lidar alone — all the relevant thermal loads (the surrounding parts on the vehicle) and the mounting environment (such as the material of the mounting bracket) jointly affect the lidar's heat dissipation capability. AT128P | 22...
  • Page 27 2.1. Mechanical installation Therefore, systematic thermal design optimization is a necessary step in designing the lidar's mounting scheme. For more detailed information, please contact Hesai technical support. AT128P | 23...

  • Page 28: Electrical Interface

    TE Connectivity part number: 2446023-1 (male socket, on the lidar) Figure 14. TE connector (male socket) 2.2.1. Pin description Signal Voltage 9 to 32 V Reserved Reserved Reserved Reserved MDI-P MDI-N  Avoid touching the reserved wires or ports with bare hands. AT128P | 24...

  • Page 29: Connector Use

     If the 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 •...
  • Page 30 Turn off the power source. Pull the red CPA away from the socket until you feel and hear a click. Disconnection Depress the black locking latch; then pull the plug from the socket. Figure 16. Connection Figure 17. Disconnection AT128P | 26...

  • Page 31: Cables (Ethernet)

    2.2. Electrical interface 2.2.3. Cables (Ethernet) Outside diameter (OD) = 4.10 ± 0.20 mm Minimum bend radius: Single: 5 × OD • Multiple: 15 × OD • AT128P | 27...

  • Page 32: Connection Box (Optional)

    2.3. Connection box (optional) 2.3. Connection box (optional) Users may connect the lidar with or without a connection box. The connection box has a power port and a standard Ethernet port. Figure 18. Connection box (unit: mm) AT128P | 28...
  • Page 33 Wire cross section Pin 1 Pin 4 0.75 mm Pin 4 Pin 8 Black 0.75 mm Pin No. on CNT1 Pin No. on CNT2 Signal Wire color Wire cross section Pin 1 MDI-P White Pin 2 MDI-N Green AT128P | 29...

  • Page 34: Ports

    Do NOT connect this port to external signals. Figure 21. Connection box (back) Port No. Port name Description Reserved port Do NOT connect this port to external signals. Power Output port See CNT 3 in Figure Automotive Ethernet port See CNT2 in Figure AT128P | 30...

  • Page 35: Connection

    2.3. Connection box (optional) 2.3.2. Connection Figure 22. Connection with PTP (software simulation) AT128P | 31...
  • Page 36 2.3. Connection box (optional)   Figure 23. Connection with PTP (hardware device) AT128P | 32...

  • Page 37: Network Settings On The Receiving Host

    Therefore, X can be selected from 2 to 200 and from 202 to 254. Subnet mask 255.255.255.0 VLAN ID Range: 1 to 4094 Required only when VLAN tagging is used. Make sure the host computer and the lidar use the same VLAN ID. AT128P | 33...

  • Page 38: In Windows

    "Control Panel" > "Network and Internet" > "Network and Sharing Center" > "Change Adapter Settings" Right-click on the "Ethernet" or "Ethernet X" which shows Ethernet connection (with no red cross at the bottom left of the icon) > Select "Properties". AT128P | 34...
  • Page 39 Select "Use the following IP addresses" > Input the host computers's IP address and subnet mask. Ping command can be used to check the connection:  Press Windows key + R to open the "Run" box > Enter "cmd" > Click [ OK ]. ping ${source_ipv4} Enter > Press "Enter" > Check the output. AT128P | 35...
  • Page 40 Click [ Configure ] > Under the "Advanced" tag, select "VLAN ID" from the "Property" list > Input a VLAN ID in the "Value" box > Click [ OK ].  If the "Property" list has no "VLAN ID", it is recommended to update the network adapter driver. AT128P | 36...

  • Page 41: In Ubuntu

    ${ip_addr}/24 dev ${interface_name}.${vlan_id} ip addr show ${interface_name}.${vlan_id} ${interface_name} • Replace with the host computer's network interface name. ${vlan_id} • Replace with the host computer's VLAN ID. ${ip_addr} • Replace with the host computer's IP address. AT128P | 37...
  • Page 42 2.4. Network settings on the receiving host To check the host computer's network interface name: Method 1 In the Settings--Network page, check the content in brackets after "Ethernet". AT128P | 38...
  • Page 43 2.4. Network settings on the receiving host Method 2 ifconfig in the terminal. AT128P | 39...

  • Page 44: Tools

    Purpose Where to find it PandarView 2 (point cloud To record and display point cloud data. Visit the Download page of Hesai's official website visualization software) contact Hesai technical support. LidarUtilities, API To set parameters, check device info or upgrade Please contact Hesai technical support.

  • Page 45: Data Structure

    1. Network monitoring software (such as WireShark) usually does not display the Ethernet tail (4 bytes). Figure 24. Data structure  The data format of the Fault Message Packet is described in the Safety Manual. Please contact Hesai technical support for more information. AT128P | 41...

  • Page 46: Point Cloud Data Packet

    Internet Protocol Protocol parameters UDP Port Number Source port (default: 10000) Destination port (default: 2368) UDP Length Eight bytes more than point cloud UDP data (see Figure 24. Data structure). UDP Checksum Checksum of the Ethernet header AT128P | 42...

  • Page 47: Point Cloud Udp Data

    0x80 (128 channels) Block Num 0x02 (2 blocks per packet) First Block Return Reserved Dis Unit Distance Unit of the field in Section 3.1.2.3 Body. Default: 0x04 (4 mm) Return Num 0x02 (Each channel can generate two returns maximum.) AT128P | 43...
  • Page 48 If the last return is also the strongest, then the even-numbered block stores the second strongest return. Strongest and First Strongest First If the Strongest is also the first, then the odd-numbered block stores the second strongest return. AT128P | 44...
  • Page 49 × 0.01° + × 0.01°/256 Block 1 Block 1: Measurements made by each channel (starting from Channel 1) (see the table below). Azimuth 2 Block 2 Fine Azimuth 2 Block 2 CRC 1 CRC-32 checksum of the Body AT128P | 45...
  • Page 50 Low-confidence data points can be allowed or filtered out by sending PTC commands (see  Section 5 Communication protocol); allowing such points improves the detection of low-reflectivity objects. … … … Channel 128 Measurements of Channel 128 AT128P | 46...

  • Page 51: Appendix B Absolute Time Of Point

    The microsecond part of the Coordinated Universal Time (UTC) of this data packet. Unit: μs Range: 0 to 1 999 999 μs The absolute time of Point Cloud Data Packets is defined in Appendix B Absolute time of point  cloud data. AT128P | 47...
  • Page 52 3.1. Point Cloud Data Packet Field Byte(s) Description Return Mode 0x33 — First 0x37 — Strongest 0x38 — Last 0x39 — Last and Strongest 0x3C — Strongest and First Factory Information Fixed: 0x42 AT128P | 48...
  • Page 53 Number of seconds since 1970-01-01 00:00:00 The absolute time of Point Cloud Data Packets is defined in Appendix B Absolute time of point  cloud data. UDP Sequence Sequence number of this UDP packet 0 to 0xFF FF FF FF AT128P | 49...

  • Page 54: Ethernet Tail

    CRC-32 checksum of the Tail 3.1.2.5. Cyber security Field Byte(s) Description Reserved  Cybersecurity functions are described in the Security Manual. Please contact Hesai technical support for more information. 3.1.3. Ethernet tail Field Byte(s) Description Frame check sequence AT128P | 50...

  • Page 55: Point Cloud Data Analysis

    Section A.3 Angle correction calculation. ◦ The 0° position is defined in Figure 3. Mirror rotation direction (top view). 3.1.4.2. Analyze the distance of a data point Distance Use the field of Block 2: Channel 5 in Section 3.1.2.3 Body. AT128P | 51...
  • Page 56 3.1.4.3. Draw the data point in a spherical or rectangular coordinate system In a spherical coordinate system, the vertical and horizontal angles are defined in the figure below. 3.1.4.4. Obtain the real-time point cloud data by analyzing and drawing every data point in each frame AT128P | 52...

  • Page 57: Parameter Interfaces

    Default: 192.168.1.201 Applies to both UDP and PTC ports. Source IPv4 Subnet Mask Option(s) Description Default: 255.255.255.0 Applies to both UDP and PTC ports. Source IPv4 Gateway Option(s) Description Default: 192.168.1.1 Applies to both UDP and PTC ports. AT128P | 53...
  • Page 58 To change the lidar to Master mode: Connect the lidar to a Master host. Change the lidar from Slave mode to Master mode. Connection will be lost. Connect the lidar to a Slave host and the connection will resume. AT128P | 54...

  • Page 59: Destination

    • automatically recover. 4.1.2. Destination Destination IPv4 Address Option(s) Description Any except 0.0.0.0, 127.0.0.1, and Communication mode Destination IP the lidar's IPv4 address Broadcast (default) 255.255.255.255 Default: 255.255.255.255 Multicast User-defined Unicast Same as the PC's IPv4 address AT128P | 55...

  • Page 60: Functional Settings

    4.5 m to 7.2 m will be released under EOL mode to support EOL calibration.  This setting is lost at power-off. Freeze Frames Option(s) Description Get freeze frames A freeze frame records the lidar's status information when a fault occurs and is used in diagnostic analysis. AT128P | 56...

  • Page 61: Appendix C Nonlinear

    Option(s) Description ON (default) When ON, the lidar outputs Fault Message Packets and freeze frames. Fault Message Packets are described in the Safety Manual. Please contact Hesai technical support •  for more information. Freeze frames: See Freeze Frames in this section.
  • Page 62 Direction of motor rotation (in the lidar's top view) Counterclockwise Spin Rate Option(s) Description 200 RPM (default) Spin rate of the motor 400 RPM Motor Speed The current spin rate is shown in Point Cloud Data Packets; see the field in Section 3.1.2.4 Tail. AT128P | 58...
  • Page 63 Trigger Method Option(s) Description Angle-Based (default) The way laser firings are triggered Time-Based Angle-based Lasers fire every 0.1° at 10 Hz (or 0.2° at 20 Hz). Time-based Lasers fire every 41.666 μs. AT128P | 59...
  • Page 64 Year (current year minus 1900) ≥70 Month 1 to 12 1 to 31 Hour 0 to 23 Minute 0 to 59 Second 0 to 59 Calendar time Byte 1 Fixed: 0x00 Bytes 2 to 6 Number of seconds since 1970-01-01 00:00:00 AT128P | 60...

  • Page 65: State Settings

    PHY to Slave mode. For a lidar in Master mode: When the PTC command's Return Code = 0x00, the lidar will directly enter Sleep mode. • If Return Code = 0x01, the lidar has failed to enter Sleep mode. • AT128P | 61...
  • Page 66 When cable length = 5 m, Vpp > 0.84 V. ◦ When cable length = 15 m, Vpp > 0.92 V. The domain controller PHY in Slave mode should by default NOT send Send_T patterns, i.e., the TC10 WUP (wake up pattern) signal. • AT128P | 62...

  • Page 67: Time Sync

    Meanwhile, lidar time will drift from the last synchronized time. When the time drift exceeds the specification, PTP status will change to Free Run. PTP Profile Option(s) Description 802.1AS Automotive IEEE timing and synchronization standard 802.1AS AUTOSAR (default) AT128P | 63...
  • Page 68 Domain attribute of the local clock Default: 0 PTP Network Transport Option(s) Description Network transport protocol Switch Type Option(s) Description TSN (default) Type of the network switch Non-TSN Time Sensitive Network, using Peer-to-Peer delay mechanism Non-TSN Using End-to-End delay mechanism AT128P | 64...

  • Page 69: Lidar Info

    The angle correction file of each lidar unit is used to correct the azimuth and elevation of each channel. 4.6. Operation statistics Climatic Internal Temperature • Electrical Lidar Input Current • Lidar Input Voltage • Lidar Input Power •  The electrical parameters are measured at the lidar's external connector. Availability AT128P | 65...

  • Page 70: Upgrade

    4.7. Upgrade Start-Up Times • System Uptime • Total Operation Time • 4.7. Upgrade Upgrade Option(s) Description Upgrade Upgrade the lidar's firmware and software. 4.8. Logs Type of log Description Operation Log Record of lidar operations AT128P | 66...

  • Page 71: Communication

    5. Communication protocol 5. Communication protocol Pandar TCP Commands (PTC) API can be used to communicate with Hesai lidars.  To acquire the API reference manuals, please contact Hesai technical support. With cybersecurity enabled, the encrypted PTCS (PTC over TLS) API is also available: Data format: Same as the cleartext PTC API.

  • Page 72: Maintenance

    If corrosive foreign objects (such as insect remains, bird droppings, tree resin, road dust, industrial dust, asphalt, soot particles, and road • salt) are found on the optical window, make sure to clean them immediately. Cleaning procedure Make sure the lidar is powered OFF. Choose an appropriate cleaning agent: ◦ For light stains, use room temperature water. AT128P | 68...
  • Page 73 For stubborn stains, cover the dirty area with the dampened sponge or cloth to soften the stains before wiping. Immediately after removing the stains, rinse the optical window with clean water. Then, use a clean soft sponge or microfiber cloth to gently wipe away any remaining liquid (which may contain residual cleaning agents or contaminants). AT128P | 69...

  • Page 74: Troubleshooting

    7. Troubleshooting 7. Troubleshooting If the following procedures cannot solve your problem, please contact Hesai technical support. Indicator light is off on the connection box. Make sure that the following conditions are met: The power adapter is properly connected and in good condition.
  • Page 75 The PC's firewall is disabled, or PandarView 2 is added to the firewall exceptions. • The latest PandarView 2 is installed (see Downloads page of Hesai's official website or contact Hesai technical support). • Afterward, power on the lidar again and check if the symptom persists.
  • Page 76 Afterward, check for packet loss. If no packet is lost yet the point cloud flashes, please follow these steps: Update PandarView 2 to the latest version (see Downloads page of Hesai's official website or contact Hesai technical support). Restart the PC.

  • Page 77: Appendix A: Channel Distribution Data

    Channels 97 to 128 only provide near- and mid-field detection, since these channels typically point to the ground. Far-field Channels 33 to 96 are far-field channels, able to detect 210 m @10% reflectivity (see data in the max. range @10% reflectivity column). AT128P | 73...
  • Page 78 90 m 2.4° 10.13° 0.5 m 90 m –0.65° 9.93° 7.2 m 90 m –2.4° 9.73° 7.2 m 90 m 0.65° 9.53° 7.2 m 90 m –2.4° 9.33° 0.5 m 90 m 0.65° 9.13° 7.2 m 90 m AT128P | 74...
  • Page 79 7.2 m 260 m 210 m 2.4° 5.73° 7.2 m 260 m 210 m –0.65° 5.53° 7.2 m 260 m 210 m 2.4° 5.33° 0.5 m 260 m 210 m –0.65° 5.13° 7.2 m 260 m 210 m AT128P | 75...
  • Page 80 7.2 m 260 m 210 m –2.4° 1.73° 7.2 m 260 m 210 m 0.65° 1.53° 7.2 m 260 m 210 m –2.4° 1.33° 0.5 m 260 m 210 m 0.65° 1.13° 7.2 m 260 m 210 m AT128P | 76...
  • Page 81 7.2 m 260 m 210 m 2.4° –2.27° 7.2 m 260 m 210 m –0.65° –2.47° 7.2 m 260 m 210 m 2.4° –2.67° 0.5 m 260 m 210 m –0.65° –2.87° 7.2 m 260 m 210 m AT128P | 77...
  • Page 82 0.5 m 260 m 210 m 0.65° –6.07° 7.2 m 260 m 210 m 2.4° –6.27° 7.2 m 90 m –0.65° –6.47° 7.2 m 90 m 2.4° –6.67° 0.5 m 90 m –0.65° –6.87° 7.2 m 90 m AT128P | 78...
  • Page 83 90 m –2.4° –9.87° 0.5 m 90 m 0.65° –10.07° 7.2 m 90 m –2.4° –10.27° 7.2 m 90 m 0.65° –10.47° 7.2 m 90 m –2.4° –10.67° 0.5 m 90 m 0.65° –10.87° 7.2 m 90 m AT128P | 79...

  • Page 84: Angle Correction File

    In case you need to obtain this file again, please do one of the following: Send PTC command 0x05, as described in the TCP API Reference Manual. • Export the file using PandarView 2 according to PandarView 2 user manual. • Contact sales representatives or technical support. • AT128P | 80...

  • Page 85: Data Format

    Frame Number uint Frame number F for every 360° rotation Default: 0x03 (3 frames; each mirror surface corresponds to one frame) This field is only used for PandarView 2 display configuration,  not for point cloud data analysis. AT128P | 81...
  • Page 86 The range of each mirror surface ( – * Resolution / 25600 ≈ 120°  One mirror surface's End_Frame is exactly the next mirror • surface's Start_Frame, and so on. Sum of the three mirror surface ranges = 360° • AT128P | 82...
  • Page 87 The 128 rows correspond to Channels 1 to 128. • The 180 columns correspond to encoder angle positions 0°, 2°, 4°, … • …, and 358°. Unit: Resolution × 0.01 SHA-256 Value uint SHA-256 hash of this angle correction file AT128P | 83...
  • Page 88 F = 1 0000 0000 The measurements from Mirror Surfaces 0/1/2 are output to one frame according to • their encoder angles in Point Cloud Data Packets. No angle correction is performed. • AT128P | 84...

  • Page 89: Angle Correction Calculation

    Each channel's horizontal angle adjustments for every 2° encoder angle (α See angle correction file. adjust Unit: (resolution) See angle correction file. Encoder angle of the current data block (low-resolution part α and high-resolution part α Azimuth 1 Fine Azimuth 1 Section fine 3.1.2.3 Body. AT128P | 85...

  • Page 90: Vertical Angle Of The Current Firing

    50° and 52° encoder angles are a and b, respectively, then at the 51° encoder angle position, α = (a + b)/2. • adjust adjust If the ε for 50° and 52° encoder angles are c and d, respectively, then at the 50.5° encoder angle position, ε = (3c + d)/4. • adjust adjust AT128P | 86...

  • Page 91: Appendix B: Absolute Time Of Point Cloud Data

    Point Cloud Data Packets strictly follow the PTP master device. Certain PTP master devices may have a specified offset from the lidar's time output. Please verify the configuration and calibration of your PTP master device. AT128P | 87...

  • Page 92: Absolute Time Of Point Cloud Data Packets

    Single return mode Block Start time (μs) Block 1 – 9.249 – 41.666 × 2 Block 2 – 9.249 – 41.666 Dual return mode Block Start time (μs) Block 1 & Block 2 – 9.249 – 41.666 AT128P | 88...

  • Page 93: Appendix C: Nonlinear Reflectivity Mapping

    0 to 255 Range of target reflectivity: 0 to 255% • Alternatively, users may choose the Nonlinear Mapping mode using LidarUtilities or PTC commands. Nonlinear mapping increases the contrast in the low-reflectivity region. Figure 25. Nonlinear mapping AT128P | 89...
  • Page 94 Actual reflectivity % reflectivity % reflectivity % reflectivity % 10.5 11.5 12.5 13.5 14.5 15.5 16.5 17.5 18.5 19.5 20.5 21.5 22.5 23.5 24.5 25.5 26.5 27.5 28.5 29.5 30.5 31.5 32.5 33.5 34.5 35.5 36.5 37.5 AT128P | 90...
  • Page 95 39.5 40.5 41.5 42.5 43.5 44.5 45.5 46.5 47.5 48.5 49.5 50.5 51.5 52.5 53.5 54.5 55.5 56.5 57.5 58.5 59.5 60.5 61.5 62.5 67.5 70.5 73.5 76.5 79.5 82.5 85.5 88.5 91.5 94.5 97.5 100.5 103.5 AT128P | 91...
  • Page 96 115.5 118.5 121.5 124.5 127.5 130.5 133.5 136.5 139.5 142.5 145.5 148.5 151.5 154.5 157.5 160.5 163.5 166.5 169.5 172.5 175.5 178.5 181.5 184.5 187.5 190.5 193.5 196.5 199.5 202.5 205.5 208.5 211.5 214.5 217.5 220.5 223.5 AT128P | 92...
  • Page 97 Appendix C: Nonlinear reflectivity mapping Reflectivity field Actual Reflectivity field Actual Reflectivity field Actual Reflectivity field Actual reflectivity % reflectivity % reflectivity % reflectivity % 226.5 229.5 232.5 235.5 238.5 241.5 244.5 247.5 250.5 253.5 AT128P | 93...

  • Page 98: Appendix D: Legal Notice

    HESAI and HESAI logo are registered trademarks of Hesai Technology. All other trademarks, service marks, and company names in this manual or on Hesai's official website are properties of their respective owners.
  • Page 99 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 A, Haisu Culture Plaza, Shanghai, China...

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