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Calibration

calib.txt: Calibration data for the cameras:

  • P0/P1 are the 3x4 projection matrices after rectification.

  • P0: denotes the left

  • P1: denotes the right camera.

  • Tr: transforms a point from velodyne coordinates into the left rectified camera coordinate system.
    In order to map a point X from the velodyne scanner to a point x in the i'th image plane, you thus have to transform it like:

    x = Pi * Tr * X

P0 (3x4): Projection matrix for left grayscale camera in rectified coordinates P1 (3x4): Projection matrix for right grayscale camera in rectified coordinates P2 (3x4): Projection matrix for left color camera in rectified coordinates P3 (3x4): Projection matrix for right color camera in rectified coordinates R0_rect (3x3): Rotation from non-rectified to rectified camera coordinate system Tr_velo_to_cam (3x4): Rigid transformation from Velodyne to (non-rectified) camera coordinates Tr_imu_to_velo (3x4): Rigid transformation from IMU to Velodyne coordinates Tr_cam_to_road (3x4): Rigid transformation from (non-rectified) camera to road coordinates

Technical: HDL-64E

Specifications

  • Diameter 215 mm
  • Height 283 mm
  • Power Consumption 60 W
  • Operating Voltage 12 - 32 V
  • Weight 12.7 kg
  • Operating Temperature -10 / +60 C
  • Storage Temperature -40 / +85 C

Sensors

  • Channels 64
  • Measurement Range up to 120 cm
  • Range Accuracy Up to ±2
  • Field of View (Vertical) +2.0 to -24.9 °
  • Angular Resolution (Vertical) 0.4 °
  • Field of View (Horizontal) 360 °
  • Angular Resolution (Horizontal/Azimuth) 0.08– 0.35
  • Rotation Rate 5 - 20 Hz

Laser

  • Laser Product Classification Class 1 Eye-safe
  • Wavelength 903 nm

Output

  • 3D LiDAR Data Points Generated
    • Single Return Mode ~1,300,000 points per second
      • Dual Return Mode ~2,200,000 points per second
  • Connection 100 Mbps Ethernet Connection
  • UDP Packets Contain
    • Time of Flight Distance Measurement
    • Intensity Measurement
      • Rotation Angles
      • Synchronized Time Stamps (μs resolution)
  • GPS $GPRMC NMEA Sentence from GPS Receiver

KITTI paper