Benewake CE30-C User manual

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CE30-C Solid State Array LiDAR
Operation Manual

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Table of Contents
1. Introduction...........................................................................................................................................................3
2. Accuracy Test........................................................................................................................................................4
3. Operation of Windows Display Program..............................................................................................................5
3.1. Connection ................................................................................................................................................6
3.2. Display ProgramWindows........................................................................................................................7
3.3. Deactivation ..............................................................................................................................................9
4. Indicator ................................................................................................................................................................9
5. Line Sequence.....................................................................................................................................................10
6. Installation Schematics........................................................................................................................................10
7. Introduction of SDK............................................................................................................................................10
7.1. Descriptions of SDK ...............................................................................................................................10
7.2. Output Data.............................................................................................................................................12
8. Cooler and Reference Design..............................................................................................................................13
9. Influence Factors of Measurement......................................................................................................................14
9.1. Multi Optical Path...................................................................................................................................14
9.2. Stray Light...............................................................................................................................................15
9.3. Multi Distance Objects............................................................................................................................15

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1. Introduction
CE30-C is an infrared LiDAR developed on the basis of ToF principle. Compared with scanner LiDAR, CE30-C does
not have any rotating components in the interior, which could ensure the reliability of long-time work and wider vertical
angle.
Figure 1 Outline Dimension Drawing of DE-LIADAR CE30

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Figure 2 Dimension and Installation Drawing of CE30-A LiDAR Components - Heat Sink
2. Accuracy Test
Figure 3 Accuracy test environment and devices
The test is made under the condition of no ambient light. Due to the automatic temperature compensation function of the
CE30-C, no preheating of the machine is required before the test. The CE30-C is mounted on an automatic test car that

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moves along a guide rail and has a displacement accuracy of 1 cm. CE30-C detects the white board of 90% reflectivity,
collects 50 frames of data every 10cm. The center 24*24 pixels area’s data is selected for statistical analysis.
CE30-C’s accuracy is defined as the difference between the average value of a 24*24 pixels area in the center of the field
of view and the true distance value.
Figure 4 Accuracy of the center 24*24 pixels area
CE30-C’s repeatability is defined as the standard deviation of the average value of a 24*24 pixels area in the center of
the field of view.
Figure 5 Repeatability if the center 24*24 pixels area
3. Operation of Windows Display Program
This display program is used for processing and displaying of output data from CE30-C LiDAR in Windows operating system.
Please check integrity of files necessary for running before using:
Figure 6 Windows Display Program and Files Necessary for Running
-2.0
-1.0
0.0
1.0
2.0
3.0
4.0
5.0
35 45 55 65 75 85 95 105 115 125 135 145 155 165 175 185 195 205 215 225 235 245 255 265 275 285 295 305
Difference (cm)
Distance (cm)
Accuracy of the Center Field of View
0.0
0.5
1.0
1.5
2.0
2.5
3.0
35 45 55 65 75 85 95 105 115 125 135 145 155 165 175 185 195 205 215 225 235 245 255 265 275 285 295 305
Standard Deviation (cm)
Distance (cm)
Repeatability of the Center Field of View

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3.1. Connection
Figure 7 Illustration for Connection of Components
Connect power supply line and Ethernet line and set IP address and subnet mask under the directory Control
Panel\Network and Internet\Network and Internet Connections as shown in Figure 8 below.
Figure 8 Network Setting
To check whether connect is set correctly, start a Command Prompt via Run dialog window and execute command:
ping 192.168.1.80
If the information as shown in Figure 9 appears, this indicates LiDAR is connected correctly and working.
Figure 9 Check of Data Connection

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3.2. Display Program Windows
Double click CE30_Display.exe to run display program. The four windows as shown in Figure 10 will pop up: Message
Prompt Window, Original Image Window, Undistorted Image Window and Point Cloud Window.
Figure 10 Windows of Upper Computer, From Top to Bottom: Message Prompt Window, Original Image Window,
Undistorted Image Window and Point Cloud Window
3.2.1. Message Prompt Window
This window is used to display LiDAR connection information, Key Help for shortcut keys and other running
information.
3.2.2. Image Window
Display program outputs two depth images simultaneously:
1. Original depth image from LiDAR (Original image): the depth image constructs with direct output data from
LiDAR with field of view 132×9°;
2. Undistorted depth image (Undistorted image): the undistorted depth image corrected by the program with field
of view 112×9°.
Click depth image in both windows, the depth value (in centimeter) of the pixel corresponding to current cursor position

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will be displayed in the message prompt window, as shown in Figure 11.
Figure 11 Display of Depth Value at Pixel Position
3.2.3. Point Cloud Window
Point Cloud Window shows the point cloud image obtained based on the depth image and projection. In this window,
hold left mouse button and drag to switch viewing direction of point cloud image; use mouse wheel to zoom point cloud
window; use right mouse button to reset observation position of the point cloud window to default angle.
3.2.4. Key Help
Figure 12 Key Help
When launching the program, Key Help for shortcut keys will be printed in the Message Prompt Window, as shown in
Figure 12. Controls by shortcut keys consist of two parts:
1. General control: control and enabling/disabling of general functions of the program.
a) Shortcut A To zoom out point cloud image
b) Shortcut D To zoom in point cloud image
c) Shortcut O To record original & undistorted depth image data and amplitude data. Save the data
under the directory of the program
d) Shortcut P To pause data recording
e) Shortcut H To reprint this Key Help messages in message prompt window.
f) Shortcut Q To deactivate LiDAR and disconnect the program with LiDAR
2. Vision Help:
a) Shortcut Z To adjust point cloud image to top view
b) Shortcut X To adjust point cloud image to left side view
c) Shortcut X To adjust point cloud image to oblique view from upper left
d) Shortcut X To reset observation position to default (default is the position of LiDAR)
Notes: shortcut keys will come into effect only in Original/Undistorted Image Window or Point Cloud Window. When in
Message Prompt Window, they will function to input into program.

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3.3. Deactivation
Procedures for normal deactivation of LiDAR and display program are:
1. Press “Shortcut Q” in Original/Undistorted Image or Point Cloud Window. The prompt message for
deactivation of LiDAR and disconnection will appear on Message Prompt Window.
2. Press “Enter” key in Message Prompt Window to quit program.
Noted that LiDAR will remain operating and connected with PC terminal if the display program is directly turned off
without using “Shortcut Q”. If the display program is rebooted in this case, it will not operate normally as LiDAR will
not respond to its request for connection and activation. In that case, the LiDAR needs to be directly power off, followed
by reconnection and reboot of the display program.
4. Indicator
Figure 13 Position of Indicator
1. Blue light: ready state, ready for connection and running
2. Blue flash: running state
3. Red flash: missing of relevant running files.
4. Red light: fatal error (signal abnormal, interface communication abnormal, I2C abnormal, etc.)

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5. Line Sequence
Figure 14 Line Sequence of Power Supply Port: Red - Positive Pole of Power Supply, Black - Negative Pole of Power
Supply
Attention!
1. Current of power adapter shall be above 2A.
2. During energization of LiDAR, there is merely a slim chance of prolonged starting time. If LiDAR is not
started after 2 minutes, it is recommended to deenergize and reboot it.
3. Please make sure to disconnect power supply before other connections.
6. Installation Schematics
Figure 15 Recommendations on LiDAR Installation Location. The front working surface of LiDAR should exceed or at least
be parallel with the installation platform; otherwise, there may be certain interference, further reducing the data accuracy
7. Introduction of SDK
7.1. Descriptions of SDK
SDK is mainly used to develop applications of this LiDAR on Linux system by using C/C++, of which source codes can