Velodyne Acoustics HDL-64E S2 - Manual (Page 20)

Digital Sensor Recorder (DSR)
DSR is a 3D point-cloud visualization software program designed for use with the sensor. This software is an “out of the box” tool for the
rendering and recording of point cloud data from the HDL unit.
You can develop visualization software using the DSR as a reference platform. A code snippet is provided on the CD to aid in understanding
the methods at which DSR parses the data points generated by the HDL sensor. See page 20 for more information.
Install
To install the DSR on your computer:
1. Locate the DSR executable program on the provided CD.
2. Double-click this DSR executable file to begin the installation onto a computer connected to the sensor. We recommend that you use
the default settings during the installation.
3. Copy the db.xml file supplied with the sensor into the same directory as the DSR executable (defaults to c:\program files\ Digital
Sensor Recorder). You may want to rename the existing default db.xml that comes with the DSR install.
Failure to use the calibration db.xml file supplied with your sensor will result in an inaccurate point cloud rendering in DSR.
Calibrate
The db.xml file provided with the sensor contains correction factors for the proper alignment of the point cloud information gathered for each
laser. When implemented properly, the image viewable from the DSR is calibrated to provide an accurate visual representation of the
environment in which the sensor is being used. Also use these calibration factors and equations in any program using the data generated by
the unit.
Live Playback
For live playback:
1. Secure and power up the sensor so that it is spinning.
2. Connect the RJ45 Ethernet connector to your host computer’s network connection. You may wish to use auto DNS settings for your
computers network configuration.
3. Open DSR from your desktop icon created during the installation.
DSR desktop icon =
4. Select Options from the menu.
5. Select the proper input device.
6. Go to Options again.
7. Deselect the Show Ground Plane option. (Leave this feature off for the time being or until the ground plane
has been properly adjusted).
8. (Optional) Go to Options > Properties to change the individual settings for each LASER channel.
9. Provided that your computer is now receiving data packets, click the Refresh button to start live viewing of a point cloud. The initial image
is of a directly overhead perspective. See page 19 for mouse and key commands used to manipulate the 3D image within the viewer.
REFRESH button =
The image can be manipulated in all directions and become disorienting. If you lose perspective, simply press F1 to return to the
original view.
[ 17 ]
HDL-64E S2 and S2.1 User’s Manual aPPendix c: diGitaL sensor recorder (dsr)