PandarView 2
Point Cloud
Mawonekedwe Software
Buku Logwiritsa Ntchito

PandarView 2 Point Cloud Visualization Software

www.hesaitech.comHESAI Wechat
http://weixin.qq.com/r/Fzns9IXEl9jorcGX92wF

Doc Mtundu: PV2-en-230710

Za Bukuli

■ Kugwiritsa Ntchito Bukuli

• Onetsetsani kuti mwawerenga bukuli musanagwiritse ntchito koyamba ndikutsatira malangizo omwe ali pano mukamagwiritsa ntchito mankhwalawa. Kukanika kutsatira malangizowo kungayambitse kuwonongeka kwa katundu, kutayika kwa katundu, kuvulala, ndi/kapena kuphwanya chitsimikiziro.
• Bukuli lilibe zambiri zotsimikizira zamalonda. Chonde yang'anani ziphaso zomwe zili m'munsi mwa chinthucho ndikuwerenga machenjezo ofananira nawo.
• Ngati muphatikiza mankhwala a lidar mu(zi)zanu, mukuyenera kupereka bukuli (kapena njira zopezera bukuli) kwa omwe mukufuna kugwiritsa ntchito malonda anu.
• Chogulitsa cha lidar ichi chimapangidwa ngati gawo lazomaliza. Idzawunikidwa pamapeto pake malinga ndi miyezo yoyenera.

■ Kupeza Bukuli
Kuti mupeze mtundu waposachedwa:

• Pitani patsamba lotsitsa la boma la Hesai webtsamba: https://www.hesaitech.com/en/download
• Kapena funsani woimira malonda anu ku Hesai
• Kapena funsani gulu laukadaulo la Hesai: service@hesaitech.com

■ Thandizo laukadaulo
Ngati funso lanu silinayankhidwe m'bukuli, chonde titumizireni ku:
service@hesaitech.com
www.hesaitech.com/en/support
https://github.com/HesaiTechnology (Chonde siyani mafunso anu pansi pa ma projekiti a GitHub.)

■ Nthano
Machenjezo: malangizo omwe akuyenera kutsatiridwa kuti atsimikizire kugwiritsa ntchito moyenera komanso moyenera.
Ndemanga: zowonjezera zomwe zingakhale zothandiza.

Mawu Oyamba

PandarView 2 ndi pulogalamu ya m'badwo wachiwiri yomwe imalemba ndikuwonetsa deta yamtambo kuchokera ku Hesai lidars, yomwe imapezeka mu:

• 64-bit Windows 10
• Ubuntu 16.04/18.04/20.04

Ngati kompyuta yanu ikugwiritsa ntchito khadi la zithunzi za AMD ndikuyendetsa pa Ubuntu-20.04, chonde tsitsani oyendetsa zithunzi omwe amathandizira Ubuntu-20.04 kuchokera kwa wovomerezeka wa AMD. webmalo. Kuti mudziwe zambiri, lemberani thandizo laukadaulo la Hesai.
Bukuli likufotokoza za PandarView 2.0.101. Mitundu yothandizidwa:

Pandar40 Pandar40M Pandar40P Pandar64

Chithunzi cha Pandar128E3X

PandarQT Chithunzi cha QT128C2X

PandarXT PandarXT-16 Chithunzi cha XT32M2X

Chithunzi cha AT128E2X

FT120

Kuyika

Koperani unsembe filekuchokera kwa mkulu wa Hesai webtsamba, kapena kulumikizana ndi chithandizo chaukadaulo: www.hesaitech.com/en/download

Dongosolo	Kuyika Files
Mawindo	PandarView_Release_Win64_V2.x.xx.msi
Ubuntu	PandarView_Release_Ubuntu_V2.x.xx.bin

Mu Ubuntu, yesani PandarView.sh mu a file Njira yomwe ili ndi zilembo za ASCII zokha.

Mawonekedwe a mapulogalamu amagawidwa m'magawo anayi, monga momwe tawonetsera pansipa (zambiri zingakhale zosiyana).
"About" mu bar menyu akuwonetsa mtundu wa mapulogalamu.

Onani Live Point Cloud

Kuti mulandire deta pa PC yanu, ikani IP adilesi ya PC kukhala 192.168.1.100 ndi subnet mask kukhala 255.255.255.0

Kwa Ubuntu:	Za Windows:
Lowetsani lamulo la ifconfig mu terminal: ~$ sudo ifconfig enp0s20f0u2 192.168.1.100 (m'malo enp0s20f0u2 ndi dzina ladoko la Ethernet)	Tsegulani Network Sharing Center, dinani "Ethernet" Mu bokosi la "Ethernet Status", dinani "Properties" Dinani kawiri pa "Internet Protocol Version 4 (TCP/IPv4)" Konzani adilesi ya IP kukhala 192.168.1.100 ndi subnet mask kukhala 255.255.255.0

3.1 Kukonzekera kwa Cybersecurity
Kwa mitundu yazogulitsa zomwe zimathandizira Cybersecurity, (Cybersecurity) idzawonekera pazida.
Ogwiritsa akhoza kusankha imodzi mwa njira zitatuzi:
■ TLS Mode
Mu TLS Mode, PandarView 2 imangotengera kukonzanso kwa lidar unit files pogwiritsa ntchito malamulo a PTCS (PTC over TLS).

Tsamba lachitetezo la web kulamulira	Yatsani Cyber ​​​​Security Master switch.
	Sankhani TLS ya PTC Connection.
PandarView 2	Sankhani TLS ya PTC Connection.
	Dinani "CA CRT" batani ndi kufotokoza file njira ya satifiketi ya Hesai ya CA (Hesai_Ca_Chain.crt).

■ MTLS Mode
MumTLS Mode, PandarView 2 imangotengera kukonzanso kwa lidar unit files pogwiritsa ntchito malamulo a PTC.

Tsamba lachitetezo la web kulamulira	Yatsani Cyber ​​​​Security Master switch.
	Sankhani mTLS kwa PTC Connection; kwezani wosuta satifiketi ya CA.
PandarView 2	Sankhani mTLS ya PTC Connection.
	Dinani batani "CA CRT"; tchulani file njira ya satifiketi ya Hesai CA (Hesai_Ca_Chain.crt).
	Dinani batani "Client CRT"; tchulani file njira ya satifiketi ya ogwiritsa ntchito.
	Dinani batani "RSA Key"; tchulani file njira ya kiyi yachinsinsi ya ogwiritsa (yogwirizana ndi satifiketi yogwiritsa ntchito).

Batani la "Chotsani" limachotsa zomwe zatchulidwa file Njira za CA CRT, Client CRT, ndi RSA Key.
■ Cybersecurity WOZIMITSA
Munjira iyi, PandarView 2 imangotengera kukonzanso kwa lidar unit files pogwiritsa ntchito malamulo a PTC.

Tsamba lachitetezo la web kulamulira	ZIMmitsa Cyber ​​Security Master Switch
PandarView 2	Sankhani Non-TLS pa PTC Connection

3.2 Landirani Zambiri Zamoyo

1. Chida chazida: (Mverani Net)
2. Mu bokosi la pop-up dialog:

Product Model	Zosasintha
Adilesi Yolandirira	Aliyense
UDP Port	Ziyenera kukhala zofanana ndi "Lidar Destination Port" patsamba la Zikhazikiko web kulamulira. 2368 mwachisawawa.
PTC Port	Amagwiritsidwa ntchito potumiza malamulo a PTC. 9347 mwachisawawa.
Multicast IP	Mu mawonekedwe owulutsa ambiri, chongani bokosi ndikutchula gulu la multicast
IPv6 Domain	Zimangothandizidwa pamitundu ina yazogulitsa

Mukulandira zidziwitso zamoyo:

• Ogwiritsa atha kutumiza kuwongolera kwa ngodya file ndi kuwongolera nthawi yowombera file, onani Gawo 5.1 (Point Cloud Correction).
• (Live Streaming) batani mu kontrakitala imalola kutsitsa kochepa kwa data yamoyo.

3.3 Lembani Live Data
Dinani (Rekodi) mu kontrakitala ndipo tchulani a file directory. Dinani "Sungani" kuti muyambe kujambula .pcap file.
Potchula dzina .pcap files ku Ubuntu, kuphatikizapo filekuwonjezera dzina (.pcap).

Sewerani Back Point Cloud

4.1 Tsegulani .PCAP File

• Dinani (Otsegula File) mu toolbar ndikusankha .pcap file pawindo la pop-up.
  Kapenanso, kokerani .pcap file ku PandarView 2.
• Mukamaliza kutsitsa, nyimbo yamtambo imawonekera mu console.

Zolemba

• Ingothandizirani mtundu wa tcpdump pcap.
• Ingothandizirani mfundo imodzi yokha yamtambo panthawi imodzi: polandira deta yamoyo kapena kutsegula .pcap yatsopano file, nyimbo yapitayi idzachotsedwa basi.
• Large .pcap files zitha kutenga nthawi kuti zitsekwe. Mukutsitsa, dinani (Live Streaming) kusewera mfundo mtambo deta nthawi yomweyo.
• Ngati mtundu wa malonda a lidar ndi nambala ya doko sizikuwonetsedwa mokwanira, pukuta gudumu la mbewa.

4.2 Play Control

Batani	Kufotokozera
	Kumanzere: sewera ndi chimango (chosasintha) Kumanja: sewera ndi nthawi
	Pitani ku chiyambi kapena mapeto a file
	Kumanzere: sinthani liwiro lobwereranso (1x, 1/2x, 1/4x, 1/8x, ..., 1/64x) Kumanja: sinthani liwiro lotumizira (1x, 2x, 4x, 8x, ..., 64x)
	Kumanzere: mutatsitsa a file, dinani kusewera. Kumanja: posewera a file, dinani kuti muyime.
	Onetsani liwiro lapano
	Pokweza a file, dinani kuti musewere nthawi yomweyo. (Batani ili lizimiririka pamene kutsitsa kwatha.) Mukalandira deta yamoyo, dinani kuti mutsegule ndi kuchedwa kochepa.

Kukonza ndi Kusintha

Mukayang'ana mtambo wamoyo kapena kusewera mtambo wojambulidwa, konzani files ndi kasinthidwe files angagwiritsidwe ntchito.
5.1 Kuwongolera Kwamtambo kwa Point

Kuwongolera Kongodya	Konzani azimuth ndi data yokwezeka. Onani Gawo 1.3 (Channel Distribution) mu bukhu la ogwiritsa ntchito lidar.
Kuwongolera Nthawi ya Moto	Pamitundu ina yazogulitsa: konzani azimuth ya data yamtambo malinga ndi nthawi yowombera panjira iliyonse.
Kuwongolera Kutali	Pamitundu ina yazogulitsa: konzani mtunda wamtunda.

Dinani (Kuwongolera) pazida:

Mtundu wa Kuwongolera	Kufotokozera
Kuwongolera Kongodya	Mukayang'ana live point cloud: • PandaView 2 imangotengera kuwongolerako file za lidar unit iyi. Mukamasewera kumbuyo mtambo wojambulidwa: • PandaView 2 imangoyika kuwongolera konseko file zachitsanzo ichi. • Kuti muwone bwino, dinani "Import" ndikusankha kukonza file za lidar unit iyi.
Kuwongolera Nthawi ya Moto	QT128C2X: • Mukayang'ana mtambo wamoyo: PandarView 2 imangotengera kuwongolerako file za lidar unit iyi; sinthani ku ON ndikuyamba kukonza. • Mukamasewera kumbuyo ojambulidwa mfundo mtambo: PandarView 2 imangoyika zosintha zonse file zachitsanzo chamankhwala ichi; sinthani ku ON ndikuyamba kukonza. Mitundu ina yazogulitsa: • Sinthani ku ON, dinani "Tengani" ndikusankha kukonza file za lidar unit iyi. • Ngati kuwongolera kwa lidar unit file sichikupezeka kwanuko, sinthani ku ON ndikusankha kukonza kwanthawi zonse file zachitsanzo ichi pa menyu yotsitsa.
Kuwongolera Kutali	Sinthani ku ON.

5.2 Kusintha kwa Channel
Kapangidwe ka tchanelo file amasankha kagawo kakang'ono kuchokera kumayendedwe onse omwe alipo a lidar, amatanthauzira kuchuluka kwa midadada mu Point Cloud Data Packet, ndikutchulanso mayendedwe oti asungidwe mu block iliyonse.
Zopezeka za QT128C2X zokha:

• Mukayang'ana mtambo wamoyo: PandarView 2 imangotengera kasinthidwe kanjira file za lidar unit iyi.
• Pamene kusewera kumbuyo analemba mfundo mtambo: dinani (Kuwongolera) pazida, dinani "Import" mugawo la Config Channel, ndikusankha kasinthidwe ka tchanelo. file za lidar unit iyi.

5.3 File Tengani ndi Kutumiza kunja
File import

• Mukayang'ana mtambo wamoyo, batani la "Export" lingagwiritsidwe ntchito kutsitsa kukonza kapena kasinthidwe fileza unit ya lidar iyi.
• Potchula mayina awa files mu Ubuntu, onetsetsani kuti mukuphatikiza filekukulitsa dzina (.dat kwa kukonza ngodya files a banja la AT, ndi .csv kwa enawo).

File kutumiza kunja

• Kukonza kapena kasinthidwe kotumizidwa kunja files amawonjezedwa pansi pa menyu yotsitsa.
• Ngati simukufunanso izo files, mutha kuzichotsa panjira zotsatirazi (zogwira mukayambiranso PandarView 2): Documents\PandarViewDetaFiles\csv

Zina

6.1 Njira zazifupi za Mouse

Kokani Kabatani Kumanzere	Sinthani mtambo wa point
Kokani Pabatani Lakumanja	Onerani mkati/kunja: kukokera kumanzere kuti mutalikitse, ndi kumanja kwa mawonedwe
Mpukutuni Gudumu	Onerani mkati / kunja: kusunthira pansi kuti mutalikitse, ndi mmwamba kuti mulowetse mkati
Dinani Wheel ndi Kokani	Pansi pa view
Kokani Shift & Kumanzere-Batani	Sinthani mtambo wozungulira kuzungulira viewing direction (njira yochokera ku viewtchulani chiyambi cha ma coordinates)
Kokani Shift & Kumanja-Batani	Pansi pa view

6.2 Point Cloud Tracks
Dinani kumanja panjira yamtambo:

Kudula ndi Nthawi	Tchulani nthawi yoyambira/yomalizaamps, dulani nyimbo yamakono, ndikusunga ku .pcap yatsopano file.
Dulani ndi Frame	Tchulani mafelemu oyambira/mapeto, dulani nyimbo yomwe ilipo, ndikusunga ku .pcap yatsopano file.
Kutumiza Zambiri	Mukasankha malo a mfundo (onani Gawo 6.3 Toolbar - Kusankha Mfundo ndi Table Table), tchulani mafelemu oyambira/omaliza ndikutumiza ku .csv files. Zolemba · Gwiritsani ntchito  (Sankhani) mu toolbar kuti musankhiretu mfundo. Deta ya mfundo zosasankhidwa idzakhala ziro mu .csv files. · Potchula mayina awa files mu Ubuntu, onetsetsani kuti mukuphatikiza filekuwonjezera dzina (.csv).
Chotsani Track	Chotsani nyimbo yomwe ilipo.
Letsani	Tsekani menyu yodina kumanja.

6.3 Toolbar
Ngati PandarView 2 zenera laling'ono kwambiri kuti liwonetsetse zida zonse, pukutani gudumu la mbewa view mabatani onse.

■ Gwirizanitsani ma Gridi, Njira Yogwirizanitsa, ndi Kuyeza Kutalikirana

Dzina la batani	Ntchito
Cartesian	Onetsani/bisani ma gridi okhala ndi mtunda wa 30 m
Polar	Onetsani/bisani mabwalo ofanana ndi mtunda wa 10 m
Wolamulira	Kokani Kumanzere-Kumanzere kuti muyese mtunda pakati pa mfundo ziwiri
Coordinates	Onetsani dongosolo lamakona anayi

■ Njira Zowonetsera

Dzina la batani	Ntchito
Orthographic Projection	–
Perspective Projection	–

■ Mfundo ya View ndi Spinning

Dzina la batani	Ntchito
Kutsogolo/Kumbuyo/Kumanzere/Kumanja/Pamwamba	–
Spin	Spin ndi viewing direction (njira yochokera ku viewfotokozani komwe kumayambira) kuzungulira Z-axis

■ Kusankha Channel

Dinani (Channel) ku view kapena sinthani mayendedwe omwe akuwonetsedwa pano.
Onetsani kapena kubisa tchanelo

• Yang'anani / osayang'ana mabokosi akumanzere kwa njira iliyonse kuti muwonetse / kubisa mfundo zake zamtambo.
• Mwachikhazikitso, ma tchanelo onse amawonetsedwa.

Sankhani ndikusintha mayendedwe

• Dinani pa tchanelo (kupatula gawo la bokosi loyang'anira) kuti musankhe ndikuwunikira tchanelochi.
• Gwirani pansi Shift mukudina kuti musankhe ma tchanelo angapo oyandikana nawo.
• Gwirani pansi Ctrl pamene mukudina kuti musankhe njira zingapo zosiyana.
• Dinani (Sinthani Njira Zosankhira) pakona yakumanzere kumanzere kuti musinthe mayendedwe osankhidwa pakati pa osankhidwa ndi osasankhidwa.

Sungani magulu amakanema

• Dinani kuti musunge mayendedwe osankhidwa ngati kasinthidwe ndikuzitchula.
• Zosintha zomwe zidasungidwa kale zimakhalapo mutayambitsanso PandarView 2 ndipo akhoza kusankhidwa mu menyu yotsitsa.
• Kuti mufufute kasinthidwe komwe mwasankha, dinani .

■ Kusankha Mfundo ndi Table Deta
Dinani (Sankhani) ndi kukokera mbewa kuti muwunikire malo a mfundo.
Dinani (Spread Sheet) ku view deta ya mfundo zowunikira, monga momwe zilili pansipa.

Mukadina kawiri gawo lomwe likupita kangapo, zotsatirazi zimachitika nthawi imodzi:

• Sinthani kukula kwa mzati ku dzina la gawolo
  (Mwinanso, ikani cholozera cha mbewa pakati pa mitu iwiri kuti cholozeracho chikhale muvi wakumanzere; kokerani mbewa kuti musinthe m'lifupi mwake.)
• Sanjani gawoli pokwera madongosolo. Muvi wokwera zidzawonekera kumanja.
• Sanjani gawoli potengera kutsika. Muvi wapansi zidzawonekera kumanja.
• Letsani mtundu.

Gulu la mabatani pakona yakumanzere kumanzere:

Sankhani Zonse	Dinani kuti muwonetse deta ya mfundo zonse mu chimangochi. Dinani kachiwiri kuti muwonetse deta yokha ya mfundo zosankhidwa.
Tumizani Mauthenga Abwino	Tumizani deta yamakono ku .csv file. Potchula mayina awa files mu Ubuntu, onetsetsani kuti mukuphatikiza filekuwonjezera dzina (.csv).
Sungani Column Order	Sungani zomwe zilipo panopa. Zokonda izi zimakhalabe zogwira mtima mutayambitsanso PandarView 2. Kuti musinthe madongosolo a m'munda, kokerani mitu yankhaniyo.

Minda mu tebulo la deta yafotokozedwa pansipa:

Ch	Njira #
AziCorr	Azimuth yokonzedwa ndi kuwongolera ngodya file
mtunda	Mtunda
Rfl	Kusinkhasinkha Zofanana ndi gawo la Intensity ku PandarView 1
Azi	Azimuth (yomwe ili pano ya rotor)
Ele	Kukwera
t	Nthawiamp
Munda	Kwa mitundu yazogulitsa zabanja za AT: Mirror Surface yomwe muyesowu umapangidwira. Minda 1/2/3 imagwirizana ndi Mirror Surfaces 0/1/2, motsatana.
AziState	Azimuth State Amagwiritsidwa ntchito kuwerengera nthawi yowombera panjira iliyonse; kwa mitundu ina ya lidar yokha.
chidaliro	Chidaliro

■ Zowongolera Zina

Dzina la batani	Ntchito
Sefa	Fotokozerani kuchuluka kwa mawonekedwe amtambo.
Kufufuza kwa Laser	Onetsani matabwa a laser a lidar unit.
State Info	Onetsani zambiri za mawonekedwe pansi kumanzere kwa malo owonetsera mtambo, monga Liwiro la Magalimoto, Njira Yobwerera, ndi dzina la .PCP file.
Tsegulani PCD	Tayani chimango chapano mu .pcd (Point Cloud Data) file ndi kutchula file malo. Zikupezeka kwa banja la AT kokha.
Mapu amtundu	Khazikitsani dongosolo la mtundu wa point cloud display.
Kukula kwa Point	Khazikitsani kukula kwa mawonekedwe a data.
Bwererani mumalowedwe	Sankhani zobwerera kuti ziwonetsedwe.

■ AT Family Toolbox
Zamitundu yazogulitsa za banja la AT.

Mawonekedwe Mode	Tembenukirani (zosasinthika): miyeso yochokera ku Mirror Surfaces 0/1/2 imatuluka ku Frames 0/1/2, motsatana. Mafelemu sanasokedwe. Kuphatikiza: miyeso yochokera ku Mirror Surfaces 0/1/2 imatuluka ku chimango chimodzi. Ndiko kuti, mafelemu atatu amasokedwa ngati amodzi. Miyambo: miyeso yochokera ku Mirror Surfaces 0/1/2 imatulutsidwa ku chimango chimodzi molingana ndi ma encoder angles awo mu Point Cloud Data Packets. Palibe kukonza ngodya komwe kumachitika.
Kutalika kwa Frame	Nthawi yowonetsera ma point cloud Pansi pamasewera-ndi-nthawi (onani Gawo 4.2 Play Control), mfundo zonse za data mkati mwa zenera ili zidzawonetsedwa.
Jambulani masiwichi	Kuwonetsa kapena kubisa miyeso pagalasi lililonse. Minda 1/2/3 imagwirizana ndi Mirror Surfaces 0/1/2, motsatana. Munda 4 sagwiritsidwa ntchito.
Munda Woyambira / Mapeto	Sizinathandizidwebe

Kusaka zolakwika

Ngati njira zotsatirazi sizingathetse vutoli, lemberani thandizo laukadaulo la Hesai.

Zizindikiro	Mfundo Zofunikira
Lidar motor ikugwira ntchito, koma palibe zotuluka zomwe zimalandiridwa, ngakhale pa Wireshark kapena PandarView.	Tsimikizirani kuti: · Chingwe cha Ethernet chimalumikizidwa bwino (potulutsa ndikutsegulanso); · Lidar's Destination IP imayikidwa bwino patsamba la Zikhazikiko web kulamulira; · yopingasa FOV ndi bwino anapereka Azimuth FOV tsamba la web kulamulira; · Firmware mtundu wa sensa ikuwonetsedwa bwino patsamba lokwezera la web kulamulira; Lidar ikutulutsa kuwala kwa laser. Izi zitha kuwonedwa pogwiritsa ntchito kamera ya infrared, sensor khadi ya infrared, kapena kamera yafoni yopanda fyuluta ya infrared. Yatsaninso kuti muwone ngati chizindikirocho chikupitilira.
Mutha kulandira zambiri pa Wireshark koma osati pa PandarView.	Tsimikizirani kuti: · Lidar Destination Port yakhazikitsidwa molondola patsamba la Zikhazikiko web kulamulira · Chiwombankhanga cha PC chazimitsidwa, kapena PandarView imawonjezedwa kuzinthu za firewall · Ngati VLAN yathandizidwa, ID ya VLAN ya PC ndiyofanana ndi ya lidar · Pandar waposachedwaView mtundu (onani tsamba lotsitsa la boma la Hesai webtsamba kapena kulumikizana ndi thandizo laukadaulo la Hesai) imayikidwa pa PC Yatsaninso kuti muwone ngati chizindikirocho chikupitilira.

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Webtsamba: www.hesaitech.com
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Maumboni

• Buku Logwiritsa Ntchito