2.1. MetaBeam
2.1.1. Assembly Guide
Please install the MetaBeam in the appropriate position according to the size and installation hole size shown in the figure below.
2.1.2. Coordinate Transformation
Lidar exports MSOP packet that just contains azimuth value and distance data. But to present a 3-dimensional pointcloud effect, a transformation of the azimuth value and distance data into x, y, z coordinates in accordance to Cartesian Coordinate System is necessary, as is shown in the figure below.
2.1.3. System Confirguration
MetaBeam product family provides a cable with M8-A-S type Female interface.MetaBeam series products provide a cable with M8-A-S type female interface. Users can connect to the Interface BOX (or PoE support) through this cable, and can also establish power and data connection with the device according to their actual situation.To ensure connection stability, select Ethernet cables of CAT.5E or higher specifications. Connect the power supply to DC 5.5-2.1 socket.
2.1.3.1. Establish Connection
When using this product for the first time, to establish a connection with the computer through the network cable and power supply, users need to manually change the IP address of the ethernet port connecting the lidar to the computer to 192.168.198.1 192.168.1.200, and set the subnet mask to 255.255.255.0.
2.1.4. Data Interface
MetaBeam product family will send ranging data to the Host continously when starting measurement. The communication adopts Ethernet as the transmission medium, and the packet is based on UDP protocol.
2.1.4.1. MSOP
MSOP：Main data Stream Output Protocol. I/O type: device output data, computer parse data. Default port number is 2368. MSOP outputs data information of ranging,each packet consists of reported distance, RSSI, azimuth and a time stamp.Each MSOP packet payload is 1248 byte long and consists of a 42-byte header,a 1200-byte data block and a 6-byte tail,each tail contains a 4-byte timestamp and a 2-byte factory information. The basic data structure of a MSOP packet is as shown in picture:
The basic structure of MetaBeam32 packets is shown in the following figure:
For example,in picture, the azimuth of first Data Block in hexadecimal is: 0x14，0x25. Combine to a 16 bit, unsigned integer: 0x2514. Convert to decimal: 9492. Divided by 100, then get the result: 94.92 degrees. Hence, the horizontal angle of first Data Bloack is 94.92 degrees. the ranging data and intensity of first Data Block’s third channel in hexadecimal is: 0x1e，0x0d，0x4a. RSSI of stronget return is: 0x4a, Convert to decimal: 74.Hence, the RSSI of stronget return is 74. Then parse the distance of stronget return, Combine to a 16 bit, unsigned integer: 0x0d1e. Convert to decimal: 3358. Distance unit: 2mm Distance: 3358 * 2 =6717 Divided by 100 and convert to meter: 6.716m. Hence, the third ranging data in first Data Block is: azimuth: 94.92°, distance: 6.716m, RSSI: 74.
A more detailed explanation of the MetaBeam series product data interface, etc,see MetaBeam User Manual.