Leddar T16 User manual

Leddar T16

Solid-State LiDAR Traffic Sensor

USER GUIDE

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LeddarTechTM Inc., referred to as the Company shall not be liable for any errors contained herein

or for any damages arising out of or related to this document or the information contained therein,

even if the Company has been advised of the possibility of such damages.

The information contained herein is the property of the Company, and shall not be reproduced in

whole or in part without prior written approval of the Company. The Company assumes no

responsibility for any errors or omissions in this document.

Leddar is atrademark of LeddarTechTM Inc. All other trademarks are the property of their respective

owners.

Leddar™ Configuration software: this software is based in part on the work of the Independent

JPEG Group.

DISCLAIMER

LeddarTechTM Inc. reserves the right to modify the products and/or specifications described herein

at any time, without notice, at LeddarTech’s sole discretion. Performance specifications and

operating parameters of the described products are determined in an independent state and are

not guaranteed to perform the same way when installed in customer products. The information

contained herein is provided without representation or warranty of any kind, whether express or

implied, including, but not limited to, the suitability of LeddarTech’s products for any particular

purpose, an implied warranty of merchantability, or non-infringement of the intellectual property

rights of others. This document is presented only as a guide and does not convey any license under

intellectual property rights of LeddarTech or any third parties.

 
Page 5 of 109 Leddar T16 –User Guide 
Table of Contents 
 
VERSION HISTORY ....................................................................................................................... 7 
LIST OF FIGURES.......................................................................................................................... 8 
LIST OF TABLES.......................................................................................................................... 10 
CONTACT INFORMATION........................................................................................................... 11 
DOCUMENT CONVENTIONS ...................................................................................................... 12 
 LABEL EXPLANATION AND SAFETY INFORMATION...................................................... 13 
1.1. REGULATORY COMPLIANCE ............................................................................................... 13 
 INTRODUCTION.................................................................................................................... 14 
2.1. DEFINITIONS...................................................................................................................... 14 
2.2. UNDERLYING PRINCIPLES AND LIDAR FUNDAMENTALS ....................................................... 15 
2.3. KEY FACTORS FOR BEST SENSOR PERFORMANCE.............................................................. 16 
 DESCRIPTION....................................................................................................................... 17 
3.1. EQUIPMENT DESIGNATION AND DESCRIPTION ..................................................................... 17 
3.1.1. Key Components ..................................................................................................... 19 
3.1.2. Distance Measurement............................................................................................ 22 
 SPECIFICATIONS ................................................................................................................. 23 
4.1. GENERAL CHARACTERISTICS ............................................................................................. 23 
4.2. MECHANICAL SPECIFICATIONS ........................................................................................... 24 
4.2.1. Leddar T16 Traffic Dimensions................................................................................ 25 
4.2.2. Leddar T16 Tolling Dimensions............................................................................... 25 
4.2.3. Distance Screw........................................................................................................ 26 
4.3. ELECTRICAL SPECIFICATIONS............................................................................................. 29 
4.4. ENVIRONMENTAL SPECIFICATIONS...................................................................................... 29 
4.5. SOFTWARE SYSTEM REQUIREMENTS.................................................................................. 29 
 INSTALLING THE LEDDAR T16 SENSOR.......................................................................... 30 
5.1. INSTALLING AND ORIENTING THE SENSOR........................................................................... 30 
5.2. CONNECTING THE LEDDAR T16 SENSOR ............................................................................ 32 
 INSTALLING LEDDARTM CONFIGURATION....................................................................... 33 
6.1. CONNECTING TO LEDDARTM CONFIGURATION...................................................................... 34 
 LEDDARTM CONFIGURATION.............................................................................................. 38 
7.2. FILE MENU........................................................................................................................ 44 
7.2.1. Recordings (.ltl file).................................................................................................. 45 
7.2.1.1. How to Edit Recording Settings ........................................................................... 45 
7.2.1.2. How to Record a Scene ....................................................................................... 47 
7.2.1.3. How to Play a Recording...................................................................................... 47 
7.2.1.4. How to Extract a Scene Segment ........................................................................ 50 

 
54A0043-2EN 032019 © LeddarTech Inc. Page 6 of 109 
2.2. Data Logging (.txt file).............................................................................................. 51 
2.2.1. How to Setup Data Logging ................................................................................. 51 
2.2.2. How to Start and Stop Data Logging.................................................................... 51 
3. DEVICE MENU................................................................................................................... 52 
3.1. Configurations.......................................................................................................... 53 
3.1.1. Device Name and How to Change it.................................................................... 53 
3.2. Acquisition Settings.................................................................................................. 54 
3.3. Network Settings...................................................................................................... 57 
3.4. Orientation Control (Pan/Tilt Adjustment)................................................................ 58 
3.5. Video Settings.......................................................................................................... 59 
3.6. Action....................................................................................................................... 60 
4. VIEW MENU....................................................................................................................... 61 
4.1. Device State............................................................................................................. 62 
4.2. Image Activation ...................................................................................................... 63 
4.3. Grid Activation.......................................................................................................... 63 
4.4. Raw Detections........................................................................................................ 64 
4.5. Raw Detections Graph............................................................................................. 67 
4.5.1. Setting Scale Areas and Detection Points ........................................................... 68 
4.5.2. Detection Scene Short Keys ................................................................................ 74 
5. SETTINGS MENU................................................................................................................ 75 
5.1. Record Settings ....................................................................................................... 75 
5.2. Data Logger ............................................................................................................. 76 
5.3. Preferences.............................................................................................................. 77 
5.4. Access Level............................................................................................................ 79 
6. HELP MENU ...................................................................................................................... 80 
6.1. User Guide............................................................................................................... 80 
6.2. LeddarTM SDK Help.................................................................................................. 80 
6.3. About........................................................................................................................ 80 
 COMMUNICATION PROTOCOL........................................................................................... 81 
 TROUBLESHOOTING........................................................................................................... 82 
 MAINTENANCE ................................................................................................................. 83 
 TECHNICAL SUPPORT..................................................................................................... 86 
 INDEX................................................................................................................................. 87 
APPENDIX A. STATIC IP AND DHCP CONFIGURATION UNDER WINDOWS 7 AND UP..... 89 
PART A–CONFIGURING THE NETWORK FOR STATIC IP MODE......................................................... 89 
PART B–CONFIGURING THE NETWORK FOR DHCP MODE ............................................................. 93 
APPENDIX B. MAKING CONNECTORS FOR THE ETHERNET CABLE................................. 95 
APPENDIX C. PROCEDURE TO USE LEDDARCDEMO (SDK CODE EXAMPLE) WITH THE 
LEDDAR T16 SENSOR……………. ........................................................................................... 101 

Page 7 of 109 Leddar T16 –User Guide

Version History

VERSION

DESCRIPTION

DATE

(YYYY-MM-DD)

54A0043-1EN

Initial release

2019-02-06

54A0043-2EN

•Reviewed Document Conventions section.

•FCC mention moved to section 1.1.

•Table 6 and Table 9: Mention of 48° Traffic configuration deleted.

•Table 10 and Table 11: Detection ranges modified and notes

added.

2019-03-28

 
54A0043-2EN 032019 © LeddarTech Inc. Page 8 of 109 
List of Figures 
 
Figure 1: Time of Flight.................................................................................................................. 15 
Figure 2: Front View of the Leddar T16 Traffic Sensor................................................................. 20 
Figure 3: Front View of the Leddar T16 Tolling Sensor................................................................. 20 
Figure 4: Back View of the Leddar T16 Traffic.............................................................................. 21 
Figure 5: Back View of the Leddar T16 Tolling ............................................................................. 21 
Figure 6: Distance Measurement with the Leddar T16 Sensor..................................................... 22 
Figure 7: Leddar T16 Traffic Sensor Dimensions.......................................................................... 25 
Figure 8: Leddar T16 Tolling Sensor Dimensions......................................................................... 25 
Figure 9: Leddar T16 Traffic Top View –Measurements Between Mounting Threads................. 26 
Figure 10: Leddar T16 Traffic Bottom View –Measurements Between Mounting Threads ......... 27 
Figure 11: Leddar T16 Tolling Bottom View –Measurements Between Mounting Threads......... 28 
Figure 12: Mounting Position Examples........................................................................................ 30 
Figure 13: Orienting the Sensor with Reference Marks ................................................................ 31 
Figure 14: Sensor Position Adjustments ....................................................................................... 31 
Figure 15: Windows Security Dialog Box ...................................................................................... 33 
Figure 16: Leddar™ Configuration Opening Window.................................................................... 34 
Figure 17: Connection Window ..................................................................................................... 35 
Figure 18: Opened Window Check Mark Example ....................................................................... 38 
Figure 19: Warning Message Example ......................................................................................... 38 
Figure 20: Leddar™ Configuration Traffic Configuration Main Window ........................................ 39 
Figure 21: Leddar™ Configuration Tolling Configuration Main Window ....................................... 40 
Figure 22 : Record Settings Window............................................................................................. 46 
Figure 23: Record Replay Window at Opening............................................................................. 48 
Figure 24: Record Replay Window with File Open........................................................................ 48 
Figure 25: Extracted Segment Example........................................................................................ 50 
Figure 26: Data Log Settings Dialog Box ...................................................................................... 51 
Figure 27: Device Name Dialog Box ............................................................................................. 54 
Figure 28: Acquisition Settings Dialog Box ................................................................................... 54 
Figure 29: Network Settings Configuration Window...................................................................... 57 
Figure 30: Orientation Control Window ......................................................................................... 58 
Figure 31: Active Grid Application Example.................................................................................. 58 
Figure 32: Video Settings Window ................................................................................................ 59 
Figure 33: Device State Dialog Box............................................................................................... 62 
Figure 34: Raw Detections Window .............................................................................................. 64 
Figure 35: Raw Detection Graph Example.................................................................................... 67 
Figure 36: Vertical Scale Setting Areas (Traffic Configuration)..................................................... 69 
Figure 37: Vertical Scale Setting Areas (Tolling Configuration).................................................... 70 
Figure 38: Horizontal Scale Setting Areas (Traffic Configuration) ................................................ 71 
Figure 39: Horizontal Scale Setting Areas (Tolling Configuration)................................................ 72 
Figure 40: Detection Point Coordinates (Traffic Configuration) .................................................... 73 
Figure 41: Detection Point Coordinates (Tolling Configuration).................................................... 74 
Figure 42: Recording Settings Window......................................................................................... 75 
Figure 44: Data Logger Dialog Box............................................................................................... 77 
Figure 45: Preferences Options Window....................................................................................... 77 

 
Page 9 of 109 Leddar T16 –User Guide 
Figure 46: Enter Password Dialog Box ......................................................................................... 79 
Figure 47: Change Adapter Settings............................................................................................. 89 
Figure 48: Ethernet Network Option.............................................................................................. 90 
Figure 49: Ethernet Properties ...................................................................................................... 91 
Figure 50: IP Address and Subnet Mask....................................................................................... 92 
Figure 51: Sensor Connection to POE+ Switch ............................................................................ 93 
Figure 52: Ethernet Properties ...................................................................................................... 94 
Figure 53: IP Address and Subnet Mask....................................................................................... 94 
Figure 54: RJ45 Industrial Modular Connector Kit for the Sensor Side of the Ethernet Cable..... 95 
Figure 55: Ethernet Cable with the Jacket Stripped and Plug Housing ........................................ 96 
Figure 56: Twisted Pairs................................................................................................................ 96 
Figure 57: Cat 5e T568B Wiring Diagram ..................................................................................... 97 
Figure 58: Wires in the Load Bar................................................................................................... 97 
Figure 59: Trimming the Wires...................................................................................................... 98 
Figure 60: Inserting the Load Bar and Wires in the RJ45 Plug..................................................... 98 
Figure 61: Crimping the RJ45 Plug ............................................................................................... 99 
Figure 62: RJ45 Strain Relief Connector Kit for the Oend of the Ethernet Cable....................... 100 
 

 
54A0043-2EN 032019 © LeddarTech Inc. Page 10 of 109 
List of Tables 
 
Table 1: Explanation of Labels on the Sensor............................................................................... 13 
Table 2: Regulatory Compliance ................................................................................................... 13 
Table 3: Definitions........................................................................................................................ 14 
Table 4: Key Factors for Best Performance .................................................................................. 16 
Table 5: Equipment Designation ................................................................................................... 17 
Table 6: Leddar T16 Sensor Traffic and Tolling Configurations.................................................... 18 
Table 7: Ethernet Cable Description.............................................................................................. 18 
Table 8: Leddar T16 Characteristics ............................................................................................. 23 
Table 9: Test Conditions and Detection Range (Traffic)............................................................... 23 
Table 10: Test Conditions and Detection Range (Tolling) ............................................................ 24 
Table 11: Leddar T16 Mechanical Specifications.......................................................................... 24 
Table 12: Leddar T16 Electrical Specifications ............................................................................. 29 
Table 13: Leddar T16 Environmental Specifications..................................................................... 29 
Table 14: LeddarTM Configuration System Requirements............................................................. 29 
Table 15: Connection Window Information ................................................................................... 36 
Table 16: Main Window Menus..................................................................................................... 41 
Table 17: Main Window Toolbar.................................................................................................... 43 
Table 18: File Menu Options ......................................................................................................... 44 
Table 19: Record Replay Window................................................................................................. 49 
Table 20: Device Menu Options.................................................................................................... 52 
Table 21: Acquisition Settings Window......................................................................................... 55 
Table 22: Network Configuration Window..................................................................................... 57 
Table 23: Video Settings ............................................................................................................... 59 
Table 24: Action Buttons Description ............................................................................................ 60 
Table 25: View Menu Options ....................................................................................................... 61 
Table 26: Device State Information............................................................................................... 62 
Table 27: Raw Detections Parameters.......................................................................................... 65 
Table 28: Flag Value Description .................................................................................................. 66 
Table 29: Recording Settings ........................................................................................................ 75 
Table 30: Preferences Window Options and Settings................................................................... 78 
 