# Benewake LiDAR GUI Viewer User Manual

## Ben e w a k e Li D A R Vi ew er

## GU I Us er M an u a l

![Benewake LiDAR GUI Viewer User Manual — source page 1, figure 1](https://ai.benewake.com/uploads/images/5fcc6bca-f3e0-498b-85ec-8c283587ab71.png)

## 1 Bri e f Int r o du c t i o n

### 1.1 Obj e c t i v e

The pur p o s e of thi s art ic l e is to ex p la in the ba s ic fun c ti o ns , op e r a ti o n me th o d s and pr e c a ut io n s of Ben ewa k e LiD A R Vi ewe r GU I (her e ina f te r re fe rr e d to as BLV ).

### 1.2 S yst e m In t ro d u ct i o n

BLV is a GU I so f tw a r e use d by AD 2 LiD A R , whi c h is ma in ly use d fo r rea l- tim e disp l a y , re c o r d in g and pl a yb a c k of po i nt cl o ud da t a . BLV is co m p ile d on the Wind o ws 10 pla t fo r m , and it is re c o m me nd e d to ins ta l l and use it on Wind o ws 10 and ab o v e sy st em s .

### 1.3 Ter m s an d Ab bre v i at i o n s

| Te r m s an d ab b re v ia ti o ns | Me a ni ng |
| --- | --- |
| IP | The IP ad d r e ss of the net wo r k pro to c o l use d by the LiD A R co m mu nic a t io n |
| MD O P | Pr im a r y da ta tr a ns fer po r t |
| DC S P | De v ic e co nt r o l co m ma n d tr a ns mi ss io n po r t |
| DS O P | The po r t whe r e the dev ic e st a tu s info r ma t io n is tr a ns m it te d |
| *. p c d | A file fo r m a t in whi c h the GU I sa v es po int clo ud da ta , whic h ca n be dir ec t ly rea d an d pla y ed ba c k by the GU I |
| *. c sv | The GU I sa v es a fil e wit h thi s fo r m a t fo r po int clo ud da ta , whi c h ca n be vi ew ed di re c t ly in Ex c el or Wo r d |
| *. p c a p | A file fo r m a t in whi c h the GU I sa v es po int clo ud da ta , whic h ca n be dir ec t ly rea d an d pla y ed ba c k by the GU I . |

Ta b le . 1: Ter m s and ab b r ev ia t io ns

### 1.4 Pre c au t i o n s be fo re use

1. Bef o r e usi ng the LiD A R , yo u need to cha ng e the IP ad d r ess of yo ur co m p ut er .

Ne tw o r k an d Int er n et → Et he rn et → Ch a ng e ad a p t er op t io n s → Pr o p e r ti es → In t er ne t Pr o to c o l ve r si o n 4 (TC P/ IPv 4 ) , set the ho s t IP ad d r ess to rem a i n on the sa m e ne t wo r k seg me nt as the LiD A R IP ad d re ss (i. e. , seg me nt 0) , sub ne t ma s k 255 . 255 . 255 . 0 , and ho s t IP ad d r e ss us ed in thi s ins tr uc ti o n ma n ua l is 19 2 . 1 6 8 . 0 . 10 (th e la st byt e is di ffe r ent fr o m the IP ad d r ess of the co nne c t ed dev ic e ) .

![Benewake LiDAR GUI Viewer User Manual — source page 4, figure 1](https://ai.benewake.com/uploads/images/2fc453f9-d817-4412-b228-d02a127409ec.png)

Figu re . 1 : Co nfi gur i ng IP ad d r ess 1. Ma k e sur e tha t yo ur co m p u te r 's fir ew a ll is tur ne d off (t his is op ti o na l : if yo u ca n't co nne c t pro p er ly , tr y thi s st ep aga in ) . Co n tr o l Pa nel → Sys t em an d Sec u ri ty → Wind o ws De fen d er → Tur n on /o f f Wind o ws De fe nd er Fir e wa ll .

![Benewake LiDAR GUI Viewer User Manual — source page 5, figure 1](https://ai.benewake.com/uploads/images/71b66e8f-2fa2-4a4f-a8b1-934a3af8028c.png)

![Benewake LiDAR GUI Viewer User Manual — source page 5, figure 2](https://ai.benewake.com/uploads/images/3c70fc19-50ae-49bb-98cd-3c6bda9bad28.png)

Figu re . 2: Tur ni ng off fir ew a ll

## 2 F il e St ru c t u r e

BLV fil e st ru c t ur e (p a r t of the file ) as sho wn in the fig ur e, do ub l e- c lic k Ben ew a k e_ LiD A R _V ie we r . e xe to op en the GU I pro gr a m .

![Benewake LiDAR GUI Viewer User Manual — source page 6, figure 1](https://ai.benewake.com/uploads/images/e8f5b350-5920-4fcf-b12d-ba5637cd06ee.png)

F igur e. 3: Sc r een sh o t of fil e st ru c t ur e

## 3 Int e rf a ce Int r o du c t i o n

The ma in in te r fa c e of BLV is sho wn in the fo ll o w ing figu r e:

![Benewake LiDAR GUI Viewer User Manual — source page 7, figure 1](https://ai.benewake.com/uploads/images/75883e5d-8b86-4b7a-afa0-391a536679c1.png)

Figu re . 4 : Bene wa k e LiD A R Vi ewe r ma i n int er fa c e 1. Me nu Ba r: Ba sic co nf igu ra t io n op ti o ns 2. To o l b a r : Ba si c fun c ti o n op ti o ns , the sp ec i fic func ti o ns ar e as fo ll o ws :

| Ico n | Func t io n | I co n | Func t io n |
| --- | --- | --- | --- |
|  | Pla y b a c k *. PC D file |  | Or th o Pro j ec t io n |
|  | Sa ve *. PC D fil e (f r o m Li D AR ). |  | Di sp l a y the hue ind i c a to r ma p |
|  | Se a r c h fo r dev ic e s in the cu rr e nt net wo r k |  | Set the po i nt siz e |
|  | Di sp la y the sc a le |  | Ra ng ing |
|  | Fr o nt vie w |  | Bo x sel ec t io n |
|  | To p vi ew |  | Ro a m in g ro t a t io n |
|  | Lef t vi ew |  | Pla y |
|  | Righ t vi ew |  | Tim e out |
|  | Per sp e c t iv e pro j ec t io n | Per sp e c t iv e pro j ec t io n | Per sp e c t iv e pro j ec t io n |

Ta b le. 2: To o l b a r ic o ns 3. De v ic e Ma n a ge me nt Ba r : Ma na ge de v ic e ad d it io n an d de let io n,

co nt r o l de v ic e sta rt and st o p , disp l a y dev ic e info r ma t io n an d co nne c t io n st a tu s, et c .

4. Po i nt cl o u d di sp l a y ar ea : Dis p la y s re a l- t im e po int cl o ud s or pla y s po int clo ud da t a fil es.

## 4 F un c t i o n s Int r o du c t i o n

### 4.1 Po i n t Cl o u d Di spl ay Adj u st m e n t

## 4. 1 .1 Poi n t cl ou d di sp l a y

1. Plea se co m p l et e the co nf igu ra t io n befo re use ac c o r d ing to Ch a p t er 1. 4 .

2. Op en the BL V so ft w a re , the r e ar e tw o wa y s to ad d LiD A R : [M et ho d 1] (1 ) Cli c k De v ic e Ma na ge me nt Ba r → Ad d but to n to set the IP, PO RT , DS O P of the LiD A R .

![Benewake LiDAR GUI Viewer User Manual — source page 9, figure 1](https://ai.benewake.com/uploads/images/70a29e33-27de-4742-919e-90cff0c9d902.png)

Figu re . 5 : Ad d de v ic e in fo r m a t io n In gene r a l, the fo ll o w ing ta b l e desc ri b es the pa r a m e te rs :

| Pa r a m et e r ite m s | Pa r a m e te r va l ue |
| --- | --- |
| IP | 1 92. 1 6 8 . 0 . 2 |
| PO RT | 246 9 |
| DS O P | 6 27 0 2 |
| Mul ti c a st mo d e | Un c he c ke d |

Ta b le . 3: Pa r a m e te rs fo r ad d ing LiD A R （ 3）Fin a lly , co n fir m the ad d it io n .

[M et ho d 2] （ 1 ） Cli c k the ic o n in the to o lb a r to sea r c h fo r the dev ic e (th e sea r c h po r t is 62 7 0 2) , as sho wn in the fig ur e, and clic k OK to co m p let e the ad d it io n .

![Benewake LiDAR GUI Viewer User Manual — source page 10, figure 1](https://ai.benewake.com/uploads/images/30a1aacc-1c68-41ee-8e79-5f6871555a2a.png)

Fig ur e. 6: Sea r c hi ng fo r a de v ic e （ 2 ） Af te r the ad d it io n is co m p let ed , the dev ic e in fo r m a t io n will be disp l a y ed in the De v ic e Ma na g em e nt Ba r , as sho w n in the fo ll o w ing fig ur e: (D u e to dif f e r e nt dev ic es , the dev ic e in fo r m a t i o n is no t ex a c t l y the sa m e , and the de v ic e in fo r m a t io n in the fig ur e is fo r ref er e nc e on ly ) .

![Benewake LiDAR GUI Viewer User Manual — source page 10, figure 2](https://ai.benewake.com/uploads/images/a295cde2-0b00-4ebb-a8ae-5d702bab4b3b.png)

Figu re . 7: Ad d i ng the dev ic e Sta r ti ng LiD A R Af te r co mp l et in g the st ep s of ad d i ng the dev ic e , yo u ca n clic k the De v ic e Ma n a ge m en t Ba r → Sta r t but to n , wa it fo r a whil e, and the n sta r t to get the po int clo ud da t a , whi c h wil l be disp l a y ed in the Po i nt Cl o ud

Di sp la y Ar e a in re a l tim e . Cl ic k the Sto p bu tt o n to st o p the Li D AR fr o m wo r k ing .

![Benewake LiDAR GUI Viewer User Manual — source page 11, figure 1](https://ai.benewake.com/uploads/images/1d2bfb54-605d-4390-8c2c-126946295c52.png)

Figu r e. 8: De v ic e st a r t/s hu t do wn but to n s

## 4. 1 .2 Poi n t Cl ou d Dis p la y Ad ju s t men t s

1. Po in t clo ud disp l a y ad j u st m ent : as sho w n in the red bo x, the ar e a enc i rc led

![Benewake LiDAR GUI Viewer User Manual — source page 11, figure 2](https://ai.benewake.com/uploads/images/941d9488-9ea8-4c9f-b6c1-279b137ab8ef.png)

Figu re . 9 : Po in t clo ud disp l a y ar e a The fo llo wi ng ta b l e desc ri b es ho w to do thi s:

| Ad j u st m e nt re su lt s: | Ho w to do it : |
| --- | --- |
| Ch a nge the vi ew ing an gle of the | Ho l d do w n the lef t mo u se bu tt o n |

| po int clo ud di sp la y | and dra g in diff er en t dir ec t io n s |
| --- | --- |
| Zo o m in/o u t of the po i nt clo ud disp l a y | Slid e the mo u se whee l |
| Mo v e the po int clo ud disp l a y as a who le | Ho l d do wn the mo u se whe el (mi d d le but to n ) and dr a g in diff er en t di re c t io ns . |

Ta b le . 4 : Po int clo ud di sp la y ad j ust m en t met ho d No t e : Wh en yo u ca nno t co nt inu e to zo o m in on the po int cl o ud disp l a y usi ng the mo u se whe el, yo u ca n co nt inu e to zo o m in on the po int clo ud disp l a y by cl ic k ing the F key on the key b o a r d . At thi s po int , the po int clo ud disp l a y co nt inu es to zo o m in ce nt er ed on the mo u se -o v er po s it io n:

![Benewake LiDAR GUI Viewer User Manual — source page 12, figure 1](https://ai.benewake.com/uploads/images/982373a9-ce9b-40d4-ac52-11319b092bff.png)

![Benewake LiDAR GUI Viewer User Manual — source page 12, figure 2](https://ai.benewake.com/uploads/images/93b00c0e-74c6-4a45-9465-9d7406886df3.png)

Fig ure . 10-a: Be for e zoom ing in with F key Fig ure . 10-b: Afte r zooming in with F ke y

2. An gle Ad j u st me nt : sel ec t the fo ll o w ing ic o ns in the To o l b a r to ad j us t the po i nt cl o ud da ta dis p la y vi ew , or in the Menu Ba r → Po in t Cl o ud Di sp l a y → Set Vie w.

| Ico n | Func t io n |
| --- | --- |
|  | Fr o nt vi ew |
|  | To p vi ew |
|  | Lef t vi ew |
|  | Righ t vi ew |

Ta b le. 5: An gle of vie w ad j ust m en t 3. Po in t Siz e Ad j u st me nt : Cl ic k the ic o n in the To o l b a r to cha ng e the siz e of the po int , and a po p - up win d o w wil l ap p e a r as sho w n in the fo ll o w ing figu r e af t er clic k in g it (o r set it in the Men u Ba r → Po in t Clo ud Di sp l a y → Se t Po in t Siz e ) . The po int siz e ra ng e is 1~1 0 , an d the de fa u lt set t ing is 2.

![Benewake LiDAR GUI Viewer User Manual — source page 13, figure 1](https://ai.benewake.com/uploads/images/f1531a7e-3580-4d73-848d-6c0857e2a9fd.png)

Fig ur e. 11 : Set ti ng the po i nt siz e 4. Set the co lo r sc he me : Se t the co l o r sc he m e in the Menu Ba r → Po in t Cl o ud Di sp l a y → Set co lo r sc he m e to re nd e r po i nt clo ud di sp l a y ac c o r d in g to re fle c t iv it y , dist a nc e, and ele v a ti o n (In gen er a l, the defa u lt re nd e ri ng co lo r is to ren d er at re fle c t iv it y ) .

![Benewake LiDAR GUI Viewer User Manual — source page 13, figure 2](https://ai.benewake.com/uploads/images/dfae403d-c098-4cfc-9412-7f2fe5adbb9a.png)

Figu r e. 12: Se tt in g co lo r sc hem e

### 4.2 Re co rd an d Pl ay b ack Po i n t Cl o u d Dat a

## 4. 2. 1 Re co rd i ng & Pla y b a ck *. PCD fi l e

1. Cl ic k the Men u Ba r → Fil e → Sa v e Fil e → Sa v e PC D Fil e (f ro m the dev ic e ) , sel ec t the sa v e pa th to st a r t re c o r d in g (o r clic k the To o lb a r ic o n) . If yo u nee d to end the rec o r d ing , clic k the Men u Ba r → Fil e → Sa v e Fil e → St o p Sa v in g PC D Fil e (F r o m De v ic e ) op ti o n to sto p the re c o r d in g (o r cl ic k the To o lb a r ic o n) .

( No t e : Yo u nee d to cho o s e the st o r a ge lo c a t io n , it is rec o mm e nd ed to cre a t e a new ded ic a te d fo ld e r to sa v e *PC D da ta ) .

![Benewake LiDAR GUI Viewer User Manual — source page 14, figure 1](https://ai.benewake.com/uploads/images/61c11d25-c32f-4600-8da4-156b33b3a708.png)

Fig ur e. 13: Re c o r d in g PC D file 2. Af te r yo u st a r t rec o rd ing , yo u ca n fin d the gene r a te d *. PC D fil es und e r the sa v ed pa t h of the set t ing s, whi c h ar e the co r re sp o nd in g po int clo ud da t a , ar e na m ed ac c o r d in g to the tim es ta m p .

![Benewake LiDAR GUI Viewer User Manual — source page 14, figure 2](https://ai.benewake.com/uploads/images/8ba2aeae-db76-4897-b284-1f610ef181fb.png)

Fig ur e. 14 : *. PC D file s gen er a t ed dur ing re c o r d in g 3. Cl ic k the Men u Ba r → Fil e → Pl a y b a c k PC D Fil e op t io n (o r cl ic k the to o lb a r ic o n ) to find the sa v ed pa th yo u ha v e set aft er wa it in g fo r

a whi le, cl ic k the ic o n in the to o lb a r to pla y ba c k *. PC D file s.

![Benewake LiDAR GUI Viewer User Manual — source page 15, figure 1](https://ai.benewake.com/uploads/images/281a59f4-f746-421e-a0ce-efca68e4a03c.png)

Figu r e. 15: Pla y b a c k *. PC D file 4. Onc e pla yb a c k st a rt s , the ic o n will ch a ng e to an ic o n, an d yo u ca n ta p to pa use the pla y b a c k da t a at any tim e. Yo u ca n dra g the pro gr es s ba r to vi ew the po int clo ud da ta yo u wa nt to fo c u s on.

![Benewake LiDAR GUI Viewer User Manual — source page 15, figure 2](https://ai.benewake.com/uploads/images/35d7cbb6-aeb5-4175-9877-1b4c2b0c7988.png)

Fig ur e. 16 : Po int cl o ud pla yb a c k co nt r o l ba r

## 4. 2. 2 Re co rd i ng & Pla y b a ck *.P CAP fi l e

1. Cl ic k the Men u Ba r → Fil e → Sa v e Fil e → Sa v e PC A P File op ti o ns , sel ec t the sa v e pa t h, set the fi le na m e, and sta r t re c o r d in g. If yo u

nee d to end the re c o r d ing , clic k the Me nu Ba r → Fil e → Sa v e Fil e → Sto p Sa v in g PC A P Fil e op ti o ns to st o p the rec o r d ing . If the re c o r d ing is suc c e ss ful ly sto p p ed , a po p -u p win d o w wil l pr o m p t tha t the sa v ing is suc c e ss fu l.

( No t e : Yo u nee d to cho o s e the st o r a ge lo c a t io n , it is rec o mm e nd ed to cre a t e a new ded ic a te d fo ld e r to sa v e *PC A P da ta ) .

![Benewake LiDAR GUI Viewer User Manual — source page 16, figure 1](https://ai.benewake.com/uploads/images/b92b04a6-45a3-446b-98aa-e152dd53bc1d.png)

Fig ur e. 17 : Sa v e *. PC A P fil e 2. Cl ic k on the Me nu Ba r → Fil e → Pla y b a c k PC A P Fil e op t io n, an d sel ec t Sa v e the fin ish ed *. PC A P fil e, aft er a whil e, a po p - up win d o w wil l pro mp t tha t the fil e ha s be en suc c e ss fu lly im p o rt ed . Cl ic k the ic o n in the to o lb a r to pla y ba c k *. PC A P fil e.

![Benewake LiDAR GUI Viewer User Manual — source page 16, figure 2](https://ai.benewake.com/uploads/images/652eb279-eecc-49fb-ab52-bfa5b6d12725.png)

Fig ur e. 18 : Pla y b a c k *. PC A P file

3. Fo l lo w -u p an d pl a y b a c k *. PC D fil es.

## 4. 2. 3 Sa v e *. C S V fi l e

1. Cl ic k the Me nu Ba r → Fil e → Sa v e Fil e → Sa v e CS V Fil e op ti o n, an d sel ec t the sa v e pa th , yo u ca n sa v e a fra m e of da t a in the sa v e pa t h, and the re c o r d ed file will be na me d ac c o r d ing to the tim e st a m p . Us e Ex c el to op en a sa v ed *. C S V file .

( No t e : Yo u nee d to cho o s e the sto r a g e lo c a t io n by yo ur se lf, it is re c o m m end e d to cre a t e a new de d ic a t ed fo ld e r to sa v e *. CS V da ta ) .

![Benewake LiDAR GUI Viewer User Manual — source page 17, figure 1](https://ai.benewake.com/uploads/images/6024233e-c8d7-41cf-8430-5ef981cfd25d.png)

Fig ur e. 19 : Sa v e *. C S V fil e

![Benewake LiDAR GUI Viewer User Manual — source page 17, figure 2](https://ai.benewake.com/uploads/images/398f7bdc-07ff-4aa7-a253-6642a3d61f62.png)

Figu re . 20: Sa v e the fin ish ed one* . C S V fil e

### 4.3 Fu n ct i o n s Re l at e d to De v i ce

## Man a ge m e n t Bar

As sho w n in the fi gur e belo w, clic k the co r re sp o nd in g bu tt o n in the De v ic e Ma n a ge m en t Ba r to use the co r re sp o nd in g fun c ti o ns .

![Benewake LiDAR GUI Viewer User Manual — source page 18, figure 1](https://ai.benewake.com/uploads/images/f2bab3a0-cf13-41f2-b53b-29af6469e69e.png)

Fig ur e. 21 : Op t io na l fun c ti o ns in dev ic e ma na gem en t ba r 1. Ad d : Ad d a new LiD A R dev ic e 2. De le t e: De le te the ad d ed dev ic e 3. Sta r t: Run the de v ic e s tha t ha v e been ad d ed 4. Sto p : Sto p the run nin g dev ic e tha t yo u ad d ed 5. Di sp la y : Di sp l a y the po int clo ud da t a of the sele c t ed dev ic e in the po int clo ud dis p la y ar ea 6. Hi d e: Hid e the po int clo ud da ta of the sel ec t ed dev ic e

### 4.4 To o l b ar Re l at e d Fu n ct i o n s

## 4. 4 .1 Sc a l e Di sp l a y

Sele c t /inv e r t the ic o n in the to o l b a r to co nt r o l whet he r the sc a le is disp l a y ed , and the co nt r a st (c o mp a r i so n ) eff ec t is sho wn in the fo ll o w ing fig ur e:

![Benewake LiDAR GUI Viewer User Manual — source page 19, figure 1](https://ai.benewake.com/uploads/images/c9e2713d-d6d8-4e19-a170-111abcaea181.png)

Fig ur e. 22 -a : Sc a le sho ws co nt r a st (c o mp a ri so n)

![Benewake LiDAR GUI Viewer User Manual — source page 19, figure 2](https://ai.benewake.com/uploads/images/45a61f21-f628-4848-895a-c46001efed86.png)

Fig ur e. 22 -b : Sc a l e is di sa b l ed

## 4. 4 .2 Hue Ind i c a t or

Sele c t /inv e r t the ic o n in the to o lb a r to co nt r o l whe th er the hue ind i c a to r ba r is di sp la ye d , and the co nt r a st eff ec t is sho w n in the fo ll o w ing fi gur e :

![Benewake LiDAR GUI Viewer User Manual — source page 20, figure 1](https://ai.benewake.com/uploads/images/c73c7eea-44a0-41d2-bcc6-0515b293b3c0.png)

Fig ur e. 23- a : Hue ind i c a to r ba r sho win g co nt r a st (c o m p a r iso n)

![Benewake LiDAR GUI Viewer User Manual — source page 20, figure 2](https://ai.benewake.com/uploads/images/a9fc1196-fc9a-4423-8676-36a90bb4f690.png)

Fig ur e. 23 -b : Hue in d ic a t o r ba r di sa b l ed

## 4. 4 .3 Dist a n c e Mea su re men t

Cl ic k the ic o n in the to o lb a r to per fo r m ra n gin g op er a t io n s on the po int clo ud . St o p the de v ic e, clic k the ic o n, use the lef t mo u se but t o n to sel ec t the po int to be mea sur e d on the po int clo ud da ta in the po int clo ud di sp l a y are a , the sel ec t ed po int will be disp l a y ed in re d , af te r sel ec t in g tw o po int s, the dist a nc e be tw ee n the two po int s ca n be aut o m a ti c a lly ca l c ula te d , and the di st a nc e info rm a t io n wil l be disp l a y ed nea r the ra n gin g line , an d the di st a nc e me a su re m ent func t io n ca n be tur n ed off by clic k in g the ic o n aga in .

![Benewake LiDAR GUI Viewer User Manual — source page 21, figure 1](https://ai.benewake.com/uploads/images/00ab5839-7c59-4c86-81bd-2cb2f36f0428.png)

Fig ur e. 24 : Po int cl o ud ra ng ing

## 4. 4 .4 Poi n t Cl ou d Fra me Se le ct i o n

Cl ic k the ic o n in the to o l b a r to sel ec t the po int clo ud . Af te r clic k in g the ic o n , clic k the Lef t Mo u se But t o n onc e in the Po i nt Cl o u d Di sp l a y Ar e a , pre ss the X ke y on the ke yb o a r d , then pr e ss an d ho ld the Lef t Mo u se But t o n to sel ec t the po int clo ud ima ge (c a n be sel ec t ed mul ti p le tim e s) , an d re lea se the Lef t Mo us e But t o n to co m p let e the bo x sele c ti o n.

The sele c t ed po in t cl o ud da t a is sho wn in re d , and an in fo r m a t io n win d o w wil l ap p ea r on the ri ght sid e of the BLV int e rf a c e to disp l a y det a ile d inf o r ma t io n of the sel ec t ed po int clo ud . Th en pr es s the X key on yo ur key b o a rd and inv e rt the ic o n to tur n off the bo x sel ec t io n .

![Benewake LiDAR GUI Viewer User Manual — source page 21, figure 2](https://ai.benewake.com/uploads/images/bdc18a88-b2bc-4e61-9777-41bb2fceca29.png)

Fig ur e. 2 5: Po in t cl o ud bo x sele c t io n

## 4. 4 .5 Persp e ct i v e Proj ec t i on

De p en d ing on yo ur di sp l a y re q uir e me nt s, sel ec t the ic o n in the To o lb a r to cha ng e the di sp l a y of po int clo ud da ta . The po int clo ud disp l a y eff ec t of per sp e c t iv e pr o j e c t io n is cl o se r to the vi su a l eff ec t of hum a n ey e.

![Benewake LiDAR GUI Viewer User Manual — source page 22, figure 1](https://ai.benewake.com/uploads/images/e97c6518-58e3-488a-a828-1fc64356118c.png)

Figu re . 26 : Per sp ec t iv e pro j ec t io n disp l a y eff ec t

## 4. 4 .6 Ort h ogr a ph i c Proj ec t i on

Ac c o rd ing to yo ur re q uir e me nt s, clic k the ic o n in the To o lb a r to cha ng e the disp l a y eff ec t of the po int clo ud da ta to or t ho pro j ec t io n . In the ort ho pro j ec t io n eff ec t , ob j e c ts nea r and fa r ar e sc a le d at the sa me sc a le .

![Benewake LiDAR GUI Viewer User Manual — source page 22, figure 2](https://ai.benewake.com/uploads/images/75ba53e4-76c9-41ff-bd7b-4eb86315dae9.png)

Fig ur e. 27 : Or th o gr a p h ic di sp la y eff ec t

## 4. 4 .7 Ro t a t i on Fu nc t i on

Cl ic k the ic o n in the to o lb a r to tur n on the ro t a t io n func t io n. Wh en ena b l ed , the po int clo ud di sp l a y will ro ta t e slo wly 36 0 ° ho r iz o n ta l ly alo ng the pla ne fo r m ed by the X-a xi s and Y- a x i s of the LiD A R wit h the Z- a x i s of LiD A R as the ro t a t io n axis .

![Benewake LiDAR GUI Viewer User Manual — source page 23, figure 1](https://ai.benewake.com/uploads/images/0b81327c-f8e8-4015-9cbb-e24500eff10a.png)

Fig ur e. 28 : Ro t a t io n fun c ti o n

### 4.5 Me n u Bar Re l at e d Fu n ct i o n s

## 4. 5. 1 Fil e

As sho wn in the figu re , fil e me nu ma in fun c ti o ns are : pl a y b a c k PC D file , pla y ba c k PC AP fil e, sa v e PC D fil e, sa v e CS V file , sa v e the PC AP fil e, etc .

Fo r mo r e info r ma t io n, pl ea s e see 4. 2 Ch a p t er .

![Benewake LiDAR GUI Viewer User Manual — source page 23, figure 2](https://ai.benewake.com/uploads/images/2dae09f1-114b-4195-8aa0-5b76c3e0ecf1.png)

Figu re . 29 : File me nu

## 4. 5. 2 Win d o w

As sho wn in the figu re , cl ic k the Men u Ba r → Wi nd o w → Op en /C lo se De v ic e Wind o w op ti o ns to disp l a y and hid e the de v ic e ma n a gem e nt ba r .

![Benewake LiDAR GUI Viewer User Manual — source page 24, figure 1](https://ai.benewake.com/uploads/images/6cee3a54-dd97-45d6-903c-86f30c992c2b.png)

Figu r e. 30 -a : Dis p la y dev ic e ma n a gem e nt ba r

![Benewake LiDAR GUI Viewer User Manual — source page 24, figure 2](https://ai.benewake.com/uploads/images/cdf90a6e-9d37-41eb-83a5-313202c5f81d.png)

Fig ur e. 30 - b : Hid e de v ic e ma n a gem e nt ba r

## 4. 5. 3 Devi c e In f or ma t i on

As sho w n in the fig ur e, clic k the Me nu Ba r → De v ic e Inf o r m a t io n op ti o n , and sec o nd a r y op ti o ns suc h as Ge t De v ic e Inf o r m a t io n , Ge t De v ic e He a r tb ea t Inf o r m a t io n , Get De v ic e Lo gs , and Sea r c h fo r De v ic es in the

Cu r r en t Net w o r k wil l ap p e a r . By clic k in g the se op ti o ns , yo u ca n und e rs t a nd the ba sic info rm a t io n of the LiD A R dev ic e .

![Benewake LiDAR GUI Viewer User Manual — source page 25, figure 1](https://ai.benewake.com/uploads/images/2ff49aaa-0bab-4754-b358-273417a5479b.png)

Fig ur e. 31 : De v ic e info r ma t io n 1. Ge t De v ic e Inf o r m a t io n : The SN num b er and fir m wa r e ve r sio n of the cur r ent dev ic e are disp l a y ed .

2. Ob t a in de v ic e hea rt b e a t inf o r m a t io n : The hea r t b ea t sig na l of the cur r ent dev ic e ca n be det ec t ed .

3. Ge t De v ic e Lo g s: di sp l a ys the lo g inf o r ma t io n of the cu rr e nt dev ic e .

4. Sea r c h fo r de v ic e s on th e cur r en t net wo r k: Sea r c h fo r ra d a r s wa it ing to co nne c t in the cur r e nt net wo rk seg me nt .

## 4. 5. 4 Co nf i gu ri n g De vi c e

Cl ic k the Me nu Ba r → Co nf ig ur e De v ic e op t io n to co n fig ur e so m e fun c ti o ns of the dev ic e ( No t e : If the LiD A R is in the ru nni ng st a te , the Co nf ig ur e De v ic e fun c ti o n is no t ava ila b l e) .

1. Cl ic k the Me nu Ba r → Co nfi gu r e De v ic e → LiD A R Op er a t io n Set t in gs → Set Mo d e op ti o ns to ma k e the LiD A R op er a t e in diff er en t wo r k ing mo d es. If yo u wa nt to kno w the pa ra me te r s of ea c h mo d e, pl ea s e co nt a c t Be ne wa k e te c hni c a l sup p o r t: su p p o r t @ b e n e w a k e . c o m

![Benewake LiDAR GUI Viewer User Manual — source page 26, figure 1](https://ai.benewake.com/uploads/images/7597e2a0-64ce-42d4-b5cf-463741325ccc.png)

Figu re . 32: Set ti ng diff er en t mo d es 2.Fo r ot he r fun c ti o n co nfi gur a t io ns, pl ea s e co nt a c t Be new a k e tec h nic a l sup p o r t tea m : su p p o r t @ b e n e w a k e . c o m , and use the sen so r und e r pro fes si o na l guid a n c e.

## 4. 5. 5 Poi n t Cl ou d Dis p la y

Po in t clo ud di sp l a y , the ma i n fu nc t io n s ar e: set the co lo r sc he me , set the vi ew , exh ib it io n mo d e , disp l a y co l o r ba r , di sp l a y sc a le , ra n gin g bo x sel ec t io n 、 set po int siz e and so on. Fo r mo r e info rm a t io n, plea s e vis it 4. 1 & 4. 4 C ha p t er .

![Benewake LiDAR GUI Viewer User Manual — source page 26, figure 2](https://ai.benewake.com/uploads/images/1dec867f-5a1b-4f37-b6ef-cc045257c6b1.png)

Fig ur e. 33: Po int clo ud dis p la y

## 4. 5. 6 Hel p Men u

In ad d i ti o n to the ab o v e fea t ur e s, BL V off er s a num b er of oth er fea t ur e s.

Cl ic k the Men u Ba r → He lp op ti o n to vie w.

![Benewake LiDAR GUI Viewer User Manual — source page 27, figure 1](https://ai.benewake.com/uploads/images/fb5c70ed-d5dc-4c5a-98b2-e533005cbadd.png)

Fig ur e. 34 : Hel p me nu • Fr eq ue nt ly Ask e d Que st i o ns an d An sw er s : Fr eq u ent ly ask ed ques ti o ns and exp la na t io ns, inc lu d ing : the dev ic e do es no t st a r t, the po int clo ud is disp l a y ed inc o r r e c tl y or ca nno t be disp l a y ed , et c .

• Sel ec t La n gua ge: Se le c t the disp l a y la ng ua ge of BLV int er fa c e.

• Ab o ut Ben ew a k e: Co mp a ny Int r o d uc t io n.

• Pr o d u c t int r o d u c ti o n : Ben ewa k e pro d uc t po si ti o nin g, ap p lic a ti o n fie ld s , et c . , plea s e re fer to the pr o d uc t int ro d uc t io n pa ge of the off ic ia l web s it e fo r det a ils .

• Vi ew er Ve r si o n: GU I so ft w a re ve rs io n and re lea se da te .

• Co nt a c t us: If yo u enc o unt er an y pro b lem s du ri ng use , plea s e co nt a c t Be ne wa k e tec hni c a l sup p o r t.