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scanners_tls.xml
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scanners_tls.xml
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<?xml version="1.0"?>
<document>
<!-- ############### BEGIN Realistic Scanners (Do NOT MODIFY unless data is really wrong!!!) ############### -->
<!-- ##### BEGIN RIEGL VZ-400 ##### -->
<scanner id = "riegl_vz400"
name = "RIEGL VZ-400"
accuracy_m = "0.005"
beamDivergence_rad = "0.0003"
headRotatePerSecMax_deg = "60"
optics = "rotating"
pulseFreqs_Hz = "100000,300000"
pulseLength_ns = "5"
rangeMin_m = "1.5"
scanAngleMax_deg = "120"
scanAngleEffectiveMax_deg = "50"
scanFreqMin_Hz = "3"
scanFreqMax_Hz = "120">
<FWFSettings beamSampleQuality="3"/>
<beamOrigin x="0" y="0" z="0.2">
<rot axis="y" angle_deg="0" />
<rot axis="z" angle_deg="0" />
<rot axis="x" angle_deg="0" />
</beamOrigin>
<headRotateAxis x="0" y="0" z="1"/>
</scanner>
<!-- ##### END RIEGL VZ-400 ##### -->
<!-- ##### BEGIN RIEGL VZ-1000 ##### -->
<scanner id = "riegl_vz1000"
accuracy_m = "0.008"
beamDivergence_rad = "0.0003"
headRotatePerSecMax_deg = "60"
name = "RIEGL VZ-1000"
optics = "rotating"
pulseFreqs_Hz = "70000,100000,150000,300000"
pulseLength_ns = "4"
rangeMin_m = "2.5"
scanAngleMax_deg = "120"
scanAngleEffectiveMax_deg = "50"
scanFreqMin_Hz = "3"
scanFreqMax_Hz = "120"
>
<FWFSettings beamSampleQuality="3"/>
</scanner>
<!-- ##### END RIEGL VZ-1000 ##### -->
<!--######## BEGIN RIEGL VQ-450 ####### -->
<scanner
id="riegl_vq-450"
accuracy_m="0.008"
beamDivergence_rad="0.0003"
name="RIEGL VQ-450" optics="rotating"
pulseFreqs_Hz="150000,200000,300000,380000,550000,550000"
pulseLength_ns="4"
rangeMin_m="1.5"
scanAngleMax_deg="360"
scanAngleEffectiveMax_deg="360"
scanFreqMin_Hz="10"
scanFreqMax_Hz="200">
<FWFSettings beamSampleQuality="3"/>
<beamOrigin x="0" y="0.14" z="0.126">
<rot axis="x" angle_deg="90" />
<rot axis="z" angle_deg="90" />
</beamOrigin>
<headRotateAxis x="0" y="0" z="1" />
</scanner>
<!--######## END RIEGL VQ-450 ####### -->
<!--######## BEGIN LIVOX Mid 70 ####### -->
<!-- beam divergence horizontal: 0.000523598, vertical: 0.004887 -->
<scanner id = "livox_mid-70"
accuracy_m = "0.02"
beamDivergence_rad = "0.0027"
name = "Livox Mid-70"
optics = "risley"
pulseFreqs_Hz = "100000"
pulseLength_ns = "4"
rangeMin_m = "2"
scanAngleMax_deg = "35"
scanAngleEffectiveMax_deg = "35"
rotorFreq1_Hz = "7294"
rotorFreq2_Hz = "-4664"
wavelength_nm = "905"
>
<FWFSettings beamSampleQuality="3"/>
<beamOrigin x="0" y="0" z="0">
<rot axis="z" angle_deg="-90" />
</beamOrigin>
<headRotateAxis x="1" y="0" z="0" />
</scanner>
<!--######## END LIVOX Mid-70 ####### -->
<!-- ##### BEGIN Velodyne VLP-16 ("Puck") ##### -->
<!-- for the angles and corrections, see https://velodynelidar.com/wp-content/uploads/2019/12/63-9243-Rev-E-VLP-16-User-Manual.pdf, page 54) -->
<scanner id = "vlp16"
accuracy_m = "0.03"
beamDivergence_rad = "0.0007"
name = "Velodyne VLP-16"
optics = "rotating"
pulseFreqs_Hz = "18750"
pulseLength_ns = "4"
rangeMin_m = "0.0100"
rangeMax_m = "100"
scanAngleMax_deg = "1"
scanAngleEffectiveMax_deg = "1"
scanFreqMin_Hz = "0"
scanFreqMax_Hz = "0"
wavelength_nm = "532"
headRotatePerSecMax_deg = "7200"
>
<FWFSettings beamSampleQuality="1"/> <!-- set to one for fast simulations -->
<channels>
<channel id="0">
<beamOrigin x="0" y="0" z="0">
<rot axis="x" angle_deg="-15" />
</beamOrigin>
</channel>
<channel id="1">
<beamOrigin x="0" y="0" z="0">
<rot axis="x" angle_deg="1" />
</beamOrigin>
</channel>
<channel id="2">
<beamOrigin x="0" y="0" z="0">
<rot axis="x" angle_deg="-13" />
</beamOrigin>
</channel>
<channel id="3">
<beamOrigin x="0" y="0" z="0">
<rot axis="x" angle_deg="3" />
</beamOrigin>
</channel>
<channel id="4">
<beamOrigin x="0" y="0" z="0">
<rot axis="x" angle_deg="-11" />
</beamOrigin>
</channel>
<channel id="5">
<beamOrigin x="0" y="0" z="0">
<rot axis="x" angle_deg="5" />
</beamOrigin>
</channel>
<channel id="6">
<beamOrigin x="0" y="0" z="0">
<rot axis="x" angle_deg="-9" />
</beamOrigin>
</channel>
<channel id="7">
<beamOrigin x="0" y="0" z="0">
<rot axis="x" angle_deg="7" />
</beamOrigin>
</channel>
<channel id="8">
<beamOrigin x="0" y="0" z="0">
<rot axis="x" angle_deg="-7" />
</beamOrigin>
</channel>
<channel id="9">
<beamOrigin x="0" y="0" z="0">
<rot axis="x" angle_deg="9" />
</beamOrigin>
</channel>
<channel id="10">
<beamOrigin x="0" y="0" z="0">
<rot axis="x" angle_deg="-5" />
</beamOrigin>
</channel>
<channel id="11">
<beamOrigin x="0" y="0" z="0">
<rot axis="x" angle_deg="11" />
</beamOrigin>
</channel>
<channel id="12">
<beamOrigin x="0" y="0" z="0">
<rot axis="x" angle_deg="-3" />
</beamOrigin>
</channel>
<channel id="13">
<beamOrigin x="0" y="0" z="0">
<rot axis="x" angle_deg="13" />
</beamOrigin>
</channel>
<channel id="14">
<beamOrigin x="0" y="0" z="0">
<rot axis="x" angle_deg="-1" />
</beamOrigin>
</channel>
<channel id="15">
<beamOrigin x="0" y="0" z="0">
<rot axis="x" angle_deg="15" />
</beamOrigin>
</channel>
</channels>
</scanner>
<!-- ##### END Velodyne VLP-16 ("Puck") ##### -->
<!-- ############### END Realistic Scanners (Do NOT MODIFY unless data is really wrong!!!) ############### -->
<!-- ############### BEGIN "Fantasy" Scanners ############### -->
<!-- ##### BEGIN Tractor scanner ##### -->
<scanner id = "tractorscanner"
accuracy_m = "0"
beamDivergence_rad = "0.00035"
name = "Tractor Scanner"
optics = "oscillating"
pulseFreqs_Hz = "1000,50000,100000,200000"
pulseLength_ns = "4"
rangeMin_m = "0"
scanAngleMax_deg = "30"
scanAngleEffectiveMax_deg = "50"
scanFreqMin_Hz = "100"
scanFreqMax_Hz = "50"
>
<FWFSettings beamSampleQuality="3"/>
</scanner>
<!-- ##### END Tractor scanner ##### -->
<!-- ##### BEGIN Panoramic scanner ##### -->
<scanner id = "panoscanner"
name = "PANO"
accuracy_m = "0.005"
beamDivergence_rad = "0.0003"
headRotatePerSecMax_deg = "500"
optics = "rotating"
pulseFreqs_Hz = "100000,300000"
pulseLength_ns = "5"
rangeMin_m = "0.01"
scanAngleMax_deg = "180"
scanAngleEffectiveMax_deg = "150"
scanFreqMin_Hz = "0"
scanFreqMax_Hz = "12000"
>
<FWFSettings beamSampleQuality="3"/>
<beamOrigin x="0" y="0" z="0.2">
<rot axis="y" angle_deg="0" />
<rot axis="z" angle_deg="0" />
<rot axis="x" angle_deg="90" />
</beamOrigin>
<headRotateAxis x="0" y="0" z="1"/>
</scanner>
<!-- ##### END Panoramic scanner ##### -->
<!-- ############### END "Fantasy" Scanners ############### -->
</document>