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scanners_als.xml
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scanners_als.xml
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<?xml version="1.0"?>
<document>
<!-- ############### BEGIN Realistic Scanners (Do NOT MODIFY unless data is really wrong!!!) ############### -->
<!-- ##### BEGIN Leica ALS50 ##### -->
<scanner id = "leica_als50"
accuracy_m = "0.05"
beamDivergence_rad = "0.00033"
name = "Leica ALS50"
optics = "oscillating"
pulseFreqs_Hz = "83000"
pulseLength_ns = "10"
rangeMin_m = "200"
scanAngleMax_deg = "37.5"
scanFreqMin_Hz = "25"
scanFreqMax_Hz = "70"
/>
<!-- ##### END Leica ALS50 ##### -->
<!-- ##### BEGIN Leica ALS50-II ##### -->
<!-- capable of detecting up to 4 targets for each pulse, vertical discrimination distance is approx. 3.5 m-->
<scanner id = "leica_als50-ii"
accuracy_m = "0.05"
beamDivergence_rad = "0.00022"
name = "Leica ALS50-II"
optics = "oscillating"
pulseFreqs_Hz = "20000,60000,150000"
pulseLength_ns = "10"
rangeMin_m = "200"
scanAngleMax_deg = "37.5"
scanFreqMin_Hz = "0"
scanFreqMax_Hz = "90"
maxNOR = "4"
/>
<!-- ##### END Leica ALS50-II ##### -->
<!-- ##### BEGIN Optech ALTM 2033 ##### -->
<scanner id = "optech_2033"
accuracy_m = "0.01"
beamDivergence_rad = "0.000424"
name = "Optech ALTM 2033"
optics = "oscillating"
pulseFreqs_Hz = "33000"
pulseLength_ns = "8"
rangeMin_m = "1"
scanAngleMax_deg = "20"
scanFreqMin_Hz = "0"
scanFreqMax_Hz = "30"
scanProduct = "590"
wavelength_nm = "1047"
>
<beamOrigin x="0" y="0.085" z="0.06">
<rot axis="y" angle_deg="0" />
<rot axis="x" angle_deg="0" />
</beamOrigin>
<headRotateAxis x="0" y="0" z="1"/>
</scanner>
<!-- ##### END Optech ALTM 2033 ##### -->
<!-- ##### BEGIN Optech ALTM 3100 ##### -->
<scanner id = "optech_3100"
accuracy_m = "0.015"
beamDivergence_rad = "0.000424"
name = "Optech ALTM 3100"
optics = "oscillating"
pulseFreqs_Hz = "33000,50000,70000,100000"
pulseLength_ns = "8"
rangeMin_m = "80"
scanAngleMax_deg = "25"
scanFreqMin_Hz = "0"
scanFreqMax_Hz = "70"
scanProduct = "1000"
maxNOR = "4"
/>
<!-- ##### END Optech ALTM 3100 ##### -->
<!-- ##### BEGIN Optech Galaxy ##### -->
<scanner id = "optech_galaxy"
accuracy_m = "0.03"
beamDivergence_rad = "0.000354"
name = "Optech Galaxy"
optics = "oscillating"
pulseFreqs_Hz = "35000,550000"
pulseLength_ns = "8"
rangeMin_m = "150"
scanAngleMax_deg = "30"
scanFreqMin_Hz = "0"
scanFreqMax_Hz = "120"
scanProduct = "2000"
wavelength_nm = "1064"
maxNOR = "8"
/>
<!-- ##### END Optech Galaxy ##### -->
<!-- ##### BEGIN RIEGL LMS-Q560 ##### -->
<scanner id = "riegl_lms-q560"
accuracy_m = "0.02"
beamDivergence_rad = "0.0005"
name = "RIEGL LMS-Q560"
optics = "rotating"
pulseFreqs_Hz = "50000,100000,180000,200000,240000"
pulseLength_ns = "4"
rangeMin_m = "30"
scanAngleMax_deg = "45"
scanAngleEffectiveMax_deg = "22.5"
scanFreqMin_Hz = "10"
scanFreqMax_Hz = "160"
/>
<!-- ##### END RIEGL LMS-Q560 ##### -->
<!-- ##### BEGIN RIEGL LMS-Q780 ##### -->
<scanner id = "riegl_lms-q780"
accuracy_m = "0.02"
beamDivergence_rad = "0.00025"
name = "RIEGL LMS-Q780"
optics = "rotating"
pulseFreqs_Hz = "100000,200000,300000,400000"
pulseLength_ns = "4"
rangeMin_m = "50"
scanAngleMax_deg = "45"
scanAngleEffectiveMax_deg = "30"
scanFreqMin_Hz = "10"
scanFreqMax_Hz = "200"
/>
<!-- ##### END RIEGL LMS-Q780 ##### -->
<!-- ##### BEGIN RIEGL VQ 780i ##### -->
<!-- Maximum number of returns per pulse dependent on pulse frequency;
150-250 kHz: 15; 350 kHz: 14, 500 kHz: 10, 700 kHz: 7, 1000 kHz: 5;
for simulations with high pulse frequencies, we recommend to create a copy of this scanner entry with the respective maxNOR value -->
<scanner id = "riegl_vq_780i"
accuracy_m = "0.02"
beamDivergence_rad = "0.00025"
name = "RIEGL VQ 780i"
optics = "rotating"
pulseFreqs_Hz = "150000,250000,350000,500000,700000,1000000"
pulseLength_ns = "4"
rangeMin_m = "100"
scanAngleMax_deg = "45"
scanAngleEffectiveMax_deg = "30"
scanFreqMin_Hz = "20"
scanFreqMax_Hz = "300"
/>
<!-- ##### END RIEGL VQ 780i ##### -->
<!-- ##### BEGIN RIEGL VUX-1UAV ##### -->
<!-- Maximum number of returns per pulse dependent on pulse frequency;
50-100 kHz: 15; 200 kHz: 13, 300 kHz: 9, 380 kHz: 7, 550 kHz: 4;
for simulations with high pulse frequencies, we recommend to create a copy of this scanner entry with the respective maxNOR value -->
<scanner id = "riegl_vux-1uav"
accuracy_m = "0.01"
beamDivergence_rad = "0.0005"
name = "RIEGL VUX-1UAV"
optics = "rotating"
pulseFreqs_Hz = "50000,100000,200000,300000,380000,550000"
pulseLength_ns = "4"
rangeMin_m = "3"
scanAngleMax_deg = "180"
scanAngleEffectiveMax_deg = "165"
scanFreqMin_Hz = "10"
scanFreqMax_Hz = "200">
<beamOrigin x="0" y="0.085" z="0.06">
<rot axis="x" angle_deg="90" />
<rot axis="z" angle_deg="90" />
</beamOrigin>
<headRotateAxis x="0" y="0" z="1"/>
</scanner>
<!-- ##### END RIEGL VUX-1UAV ##### -->
<!-- ##### BEGIN RIEGL VUX-1UAV22 ##### -->
<!-- Maximum number of returns per pulse dependent on pulse frequency;
50-600 kHz: 15; 800 kHz: 11, 1200 kHz: 7;
for simulations with high pulse frequencies, we recommend to create a copy of this scanner entry with the respective maxNOR value -->
<scanner id = "riegl_vux-1uav22"
accuracy_m = "0.01"
beamDivergence_rad = "0.0005"
name = "RIEGL VUX-1UAV22"
optics = "rotating"
pulseFreqs_Hz = "50000,100000,200000,400000,600000,800000,1200000"
pulseLength_ns = "4"
rangeMin_m = "3"
scanAngleMax_deg = "180"
scanAngleEffectiveMax_deg = "180"
scanFreqMin_Hz = "10"
scanFreqMax_Hz = "200">
<beamOrigin x="0" y="0.085" z="0.06">
<rot axis="x" angle_deg="90" />
<rot axis="z" angle_deg="90" />
</beamOrigin>
<headRotateAxis x="0" y="0" z="1"/>
</scanner>
<!-- ##### END RIEGL VUX-1UAV22 ##### -->
<!-- ##### BEGIN RIEGL VUX-1HA22 ##### -->
<scanner id = "riegl_vux-1ha22"
accuracy_m = "0.005"
beamDivergence_rad = "0.0005"
name = "RIEGL VUX-1HA22"
optics = "rotating"
pulseFreqs_Hz = "300000,500000,1000000,1250000,1500000,1800000"
pulseLength_ns = "4"
rangeMin_m = "1"
scanAngleMax_deg = "180"
scanAngleEffectiveMax_deg = "180"
scanFreqMin_Hz = "10"
scanFreqMax_Hz = "250">
<beamOrigin x="0" y="0.015" z="0.0">
<rot axis="x" angle_deg="90" />
<rot axis="z" angle_deg="90" />
</beamOrigin>
<headRotateAxis x="0" y="0" z="1"/>
</scanner>
<!-- ##### END RIEGL VUX-1HA22 ##### -->
<!-- ##### BEGIN RIEGL LMS VQ-880-G II ##### -->
<!-- Note regarding pulseLength_ns (2020-04 KA/LW):
the value is not taken from a datasheet or literature, as it is not known/reported,
but should be a suitable value regarding the vertical dead zone;
Note (2020-06 HW):
Laser has two channels (NIR, green); took specs from the NIR channel
-->
<scanner id = "riegl_vq-880g"
accuracy_m = "0.025"
beamDivergence_rad = "0.0003"
name = "RIEGL VQ-880-G"
optics = "conic"
pulseFreqs_Hz = "150000,300000,600000,900000"
pulseLength_ns = "2"
rangeMin_m = "10"
scanAngleMax_deg = "20"
scanAngleEffectiveMax_deg = "20"
scanFreqMin_Hz = "28"
scanFreqMax_Hz = "200"
wavelength_nm = "1064"
>
<beamOrigin x="0" y="0.085" z="0.06">
<rot axis="x" angle_deg="0" />
<rot axis="z" angle_deg="0" />
</beamOrigin>
<headRotateAxis x="0" y="0" z="1"/>
</scanner>
<!-- ##### END RIEGL LMS VQ-880-G II ##### -->
<!-- ##### BEGIN RIEGL VQ-1560i - Combined ##### -->
<scanner id = "riegl_vq-1560i"
accuracy_m = "0.02"
beamDivergence_rad = "0.0007"
name = "RIEGL VQ-1560i (Dual-Channel)"
optics = "rotating"
pulseFreqs_Hz = "150000,250000,350000,500000,700000,1000000,2000000"
pulseLength_ns = "4"
rangeMin_m = "0.0100"
scanAngleMax_deg = "45"
scanAngleEffectiveMax_deg = "30"
scanFreqMin_Hz = "40"
scanFreqMax_Hz = "600"
wavelength_nm = "532"
>
<FWFSettings beamSampleQuality="3"/>
<channels>
<channel id="0">
<beamOrigin x="0" y="0.0" z="0.0">
<rot axis="y" angle_deg="14" />
</beamOrigin>
</channel>
<channel id="1">
<beamOrigin x="0" y="0.0" z="0.0">
<rot axis="y" angle_deg="-14" />
</beamOrigin>
</channel>
</channels>
</scanner>
<!-- ##### END RIEGL VQ-1560i - Combined ##### -->
<!-- ##### LIVOX Mid-70 -->
<!-- beam divergence horizontal: 0.000523598, vertical: 0.004887 -->
<scanner id = "livox_mid-70"
accuracy_m = "0.02"
beamDivergence_rad = "0.004887"
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"
maxNOR = "1"
>
<FWFSettings beamSampleQuality="3"/>
<beamOrigin x="0" y="0" z="0">
<rot axis="x" angle_deg="90" />
<rot axis="z" angle_deg="90" />
</beamOrigin>
<headRotateAxis x="1" y="0" z="0" />
</scanner>
<!--######## END LIVOX Mid-70 ####### -->
<!-- ##### LIVOX Mid-100 (Both as multiscanner and separated single scanners -->
<scanner id="livox-mid-100"
accuracy_m="0.02"
beamDivergence_rad="0.0027"
name="livox-mid-100"
optics="risley"
pulseFreqs_Hz="50000"
pulseLength_ns="4"
rangeMin_m="2"
scanAngleMax_deg="35"
scanAngleEffectiveMax_deg = "35"
rotorFreq1_Hz = "7294"
rotorFreq2_Hz = "-4664"
wavelength_nm="905"
>
<channels>
<channel id="0">
<FWFSettings beamSampleQuality="3"/>
<beamOrigin x="0" y="0" z="0">
<rot axis="z" angle_deg="-30"/> <!-- cone center looking left 30 deg -->
</beamOrigin>
<!-- scan plane is defined by the central ray -->
</channel>
<channel id="1">
<FWFSettings beamSampleQuality="3"/>
<beamOrigin x="0" y="0" z="0">
<!-- central cone -->
</beamOrigin>
</channel>
<channel id="2">
<FWFSettings beamSampleQuality="3"/>
<beamOrigin x="0" y="0" z="0">
<rot axis="z" angle_deg="30"/> <!-- cone center looking right 30 deg -->
</beamOrigin>
</channel>
</channels>
<FWFSettings beamSampleQuality="3"/>
</scanner>
<scanner id="livox-mid-100a"
accuracy_m="0.02"
beamDivergence_rad="0.0027"
name="livox-mid-100"
optics="risley"
pulseFreqs_Hz="50000"
pulseLength_ns="4"
rangeMin_m="2"
scanAngleMax_deg="35"
scanAngleEffectiveMax_deg = "35"
rotorFreq1_Hz = "7294"
rotorFreq2_Hz = "-4664"
wavelength_nm="905">
<beamOrigin x="0" y="0" z="0">
<rot axis="z" angle_deg="-30"/> <!-- cone center looking left 30 deg -->
</beamOrigin>
<FWFSettings beamSampleQuality="3"/>
</scanner>
<scanner id="livox-mid-100b"
accuracy_m="0.02"
beamDivergence_rad="0.0027"
name="livox-mid-100"
optics="risley"
pulseFreqs_Hz="50000"
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">
<!-- central cone -->
</beamOrigin>
</scanner>
<scanner id="livox-mid-100c"
accuracy_m="0.02"
beamDivergence_rad="0.0027"
name="livox-mid-100"
optics="risley"
pulseFreqs_Hz="50000"
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="30"/> <!-- cone center looking right 30 deg -->
</beamOrigin>
</scanner>
<!-- ##### END LIVOX Mid-100 ##### -->
<!-- ############### END Realistic Scanners (Do NOT MODIFY unless data is really wrong!!!) ############### -->
</document>