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Velodyne HD HDL-64E S2 Operations Instructions Page 13

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[ 10 ]
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32
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Firing
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The laser firing order is the same as the order in the Ethernet packet. The most downward laser fires first, followed by the interleaved firings
from the lower and upper “banks” of 16 lasers, as follows:
Firing order DSR # Vertical angle
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
-30.67
-9.33
-29.33
-8.00
-28.00
-6.66
-26.66
-5.33
-25.33
-4.00
-24.00
-2.67
-22.67
-1.33
-21.33
0.00
-20.00
1.33
-18.67
2.67
-17.33
4.00
-16.00
5.33
-14.67
6.67
-13.33
8.00
-12.00
9.33
-10.67
10.67
The interleaving firing pattern is designed to avoid potential ghosting caused primarily by retro-reflectors.
Note: Laser #9 from the top of the stack, or DSR #15, is set at a 0 vertical angle. This laser can be used as a reference to calibrate pitch and
yaw of the sensor relative to the vehicle.
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