The Slamtec RPlidar S3 is a 360° laser range scanner for indoor and outdoor application.
It has a working range of up to 40m with low reflectivity at up to 15m and captures up to 32 000 samples per seconds.
Modulo Player also supports the Slamtec RPlidar A3, a triangulation LiDAR with a working range of 25m and a sample rate of 16 000 samples/sec.
Settings
| Property | Default | Description |
|---|---|---|
| Name | RpLidar | User-friendly name. |
| Port name | COM | Insert the serial port used by the device (1, 2, etc.). Check your Device Manager to know which COM Port is being used by your device. |
| Baud Rate | 256000 | Data transmission rate for serial connection |
| Minimum points to create a Cluster | 2 | A cluster is a group of close points which have a position that will be tracked . This setting can help to reduce noise. |
| Cluster Expiration Time (ms) | 300 | Time before a cluster is dropped when it is not detected anymore. |
| Maximum Clustering Distance (mm) | 100 | Threshold for points close together to be considered as one cluster. |
| Tracking Move Threshold (mm) | 5 | Threshold under which movement is not considered movement but eliminated as noise. |
| Maximum Matching Distance (mm) | 600 | Threshold over which a cluster can’t be matched as being the same cluster after a movement. |
| Minimum Life time (ms) | 0 | Minimum time a cluster must exist before being considered a cluster. This setting can help to reduce noise from reflections. |
| Process noise covariance (mm) | 1.0 | Error expected on position evaluation. |
| Measure noise covariance (mm) | 5.0 | Error expected on position measurement. |
| Positioning Algorithm | Centroid | Method to describe the position of a cluster. ● Centroid: Computes the average of all point coordinates to define the cluster coordinates ● Nearest point: Defines cluster’s position at the coordinates of the cluster’s nearest point to the origin ● Nearest point centroid: Computes an average like centroid but by using the (maximum) 8 nearest points to the origin |
Setting up trigger zones
The interface underneath the settings of the LiDAR enable you to create different trigger zones that can be used as triggers for tasks.
Use the 
button to add zones and set (x,y) coordinates for the top left corner and width/height parameters according to the physical zone you would like to use as a trigger.
Task action
This device has no actions that can be set in a subtask.
Task trigger
When using this device as a trigger for a task, select the zone you would like to use to trigger the task when detections occur in the specified zone.
Refer to the above section for setting up trigger zones.
Digimap trigger
This device has no actions that can trigger a Digimap.
User interface
This device has no interface available in the UI Designer.
Device information
Go to the manufacturer website for more information.
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