Thank you for making such great products. I have a few questions regarding the output in the .ubh file produced from UrgBenriPlus. I'm currently writing a script processing .ubh file.
What is a "step"? In the .ubh file, there are a few headers involving steps: frontStep, startStep, endStep and totalSteps. How do I convert a step to an angle?
When I use the continuous mode to record data, are the numbers in one [scan] distances? How do I know the angle for each of the distance measurement?
Thanks!
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What is a "step"? In the .ubh file, there are a few headers involving steps: frontStep, startStep, endStep and totalSteps. How do I convert a step to an angle?
Basically, the measurement data in one scan is a collection of measurements obtained for each measurement step.
Start step and end step are minimum and maximum step number of the scanning area.
Front step is step number of the front direction of sensor like a diagram on the following link. http://urgnetwork.sourceforge.net/html/library_tutorial_page.html#library_tutorial_xy
Total steps is angular resolution (number of partitions in 360 degrees).
These header parameters are basically needed to display measurement data on URGBenri.
For example, the angle between steps is 0.25 (360 / 1440) degrees when total steps is 1440.
Thus the angle of the scanning area is 270 degrees if start step is 0 and end step is 1080.
The front direction of sensor is displayed at 90 degrees as default on URGBenri.
So angle of start step is -45 degrees and angle of end step is 225 degrees if front step is 540.
When I use the continuous mode to record data, are the numbers in one [scan] distances? How do I know the angle for each of the distance measurement?
Yes, you will capture the distances of measurement step count (that is, end step - start step + 1) per scan.
URGBenri is calculating the respective angles based on the header parameters.
The header parameters are originally parameters of PP command (please refer to the communication protocol specification on our website https://www.hokuyo-aut.jp/).
Best regards.
Last edit: h_fukuda 2018-01-19
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Dear Hokuyo Engineers,
Thank you for making such great products. I have a few questions regarding the output in the .ubh file produced from UrgBenriPlus. I'm currently writing a script processing .ubh file.
Thanks!
Hi, thank you very much for using our sensor.
Basically, the measurement data in one scan is a collection of measurements obtained for each measurement step.
Start step and end step are minimum and maximum step number of the scanning area.
Front step is step number of the front direction of sensor like a diagram on the following link.
http://urgnetwork.sourceforge.net/html/library_tutorial_page.html#library_tutorial_xy
Total steps is angular resolution (number of partitions in 360 degrees).
These header parameters are basically needed to display measurement data on URGBenri.
For example, the angle between steps is 0.25 (360 / 1440) degrees when total steps is 1440.
Thus the angle of the scanning area is 270 degrees if start step is 0 and end step is 1080.
The front direction of sensor is displayed at 90 degrees as default on URGBenri.
So angle of start step is -45 degrees and angle of end step is 225 degrees if front step is 540.
Yes, you will capture the distances of measurement step count (that is, end step - start step + 1) per scan.
URGBenri is calculating the respective angles based on the header parameters.
The header parameters are originally parameters of PP command (please refer to the communication protocol specification on our website https://www.hokuyo-aut.jp/).
Best regards.
Last edit: h_fukuda 2018-01-19
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Thank you for your response! It helped a lot.