Contents
1Safety Instructions ................................................................................................................................ 1
1.1 Laser Safety............................................................................................................................. 1
1.2 Device Operation Safety .................................................................................................... 1
1.3 Battery Operation Safety ................................................................................................... 2
2Overview................................................................................................................................................... 3
2.1 Introduction............................................................................................................................ 3
2.2 Specifications ......................................................................................................................... 4
3First Use .................................................................................................................................................... 5
3.1 Assembly and Connection................................................................................................. 5
3.2 Software and Hardware Interaction ............................................................................... 6
3.2.1 Starting the Device.................................................................................................... 6
3.2.2 Connecting to Wi-Fi.................................................................................................. 6
3.2.3 Collecting Data ........................................................................................................... 7
3.2.4 Downloading Data..................................................................................................... 9
3.2.5 Updating Firmware..................................................................................................10
3.2.6 Powering Off..............................................................................................................11
3.2.7 Charging the Battery ..............................................................................................11
3.3 Using the Camera ...............................................................................................................12
3.3.1 Camera settings........................................................................................................12
3.3.2 Calibrating the Camera..........................................................................................13
3.3.3 Calculating the Calibration Parameters in FJD Trion Model .....................18
3.3.4 Colorizing the Point Cloud in FJD Trion Model.............................................21
4Suggestions...........................................................................................................................................23
4.1 Environments .......................................................................................................................23
4.2 Loop Closure ........................................................................................................................23
4.3 Transitioning Between Environments ..........................................................................25
4.4 Holding Instructions ..........................................................................................................26
4.5 Walking Speed.....................................................................................................................27
