# LDR X

## Acquisition

![SpatialExplorer LiDAR sensor rover Acquisition settings interface](/files/-LTyBaDTGJbI5sPD4tlU)

### Angular Range (RIEGL only)

The Angular Range option will limit the Field of View (FoV) of the RIEGL LiDAR sensor during acquisition. This is useful to reduce the amount of data acquired, but **be aware that misconfiguration of the FoV will lead to missing data that can NOT be fixed in postprocessing**. If you reduce the FoV, be sure to test the new settings by postprocessing a small mission.

![Field of View (FOV) range for RIEGL sensors](/files/-MFf0Yjyz7QC-4qbkrNW)

### Start of MTA RangeGate (RIEGL only)

![](/files/-MDuJnOrWf8BKfOw2U_o)

Adjusting this value should reduce realtime noise in your point cloud. **It is solely for visualization purposes during acquisition**. This parameter has no influence on post processing. The Start of MTA RangeGate should be set to slightly less than the closest valid range you expect to see in your scan. For example, if you don't expect to be closer than 150 m to the ground, then you can set it to around 120 m. This will notify the system that points found closer than 120m belong in the next MTA zone, so it won't display those as noise.

## Calibration

![SpatialExplorer LiDAR sensor rover Calibration settings interface](/files/-LTyBjFW34-Vf3Ibogtj)

The Calibration tab contains the Transform information related to the LiDAR sensor.

#### Transform IMU to Sensor

The global Transform values (Translation + Rotation) are listed under the "Transform IMU to sensor" section. The conventions is as follows:

|                   |       |
| ----------------- | ----- |
| Vehicle-right     | Pitch |
| Vehicle-up        | Yaw   |
| Vehicle-backwards | Roll  |

#### Adjust Sensor P/Y/R

The "Adjust Sensor P/Y/R" sliders will adjust the individual Rotation values by small amounts.

#### Corrections (in sensor-frame)

These fields contain the individual sensor calibration values.

{% tabs %}
{% tab title="First" %}
![](/files/-MIfPFK077P5jTVxob4K)
{% endtab %}

{% tab title="Second" %}
Select the .plp file you'd like to load the calibration values from.

![](/files/-MIfPu_9d_zoL5_337V7)
{% endtab %}

{% tab title="Third" %}
Select "**sessions**" as the source if this is a boresighted .plp file, or from "**acquisition**" if you want to load the sensor corrections from the rover's configuration during acquisition. 

![](/files/-MIfPyFxo6cpjgSee9P6)
{% endtab %}

{% tab title="Fourth" %}
Select the LiDAR sensor to load transforms and corrections from.

![](/files/-MIfQ--B1HSfJFM6FE-q)
{% endtab %}

{% tab title="Fifth" %}
The calibration values from the .plp will be successfully loaded.

![](/files/-MIfQ3-rvY8rMhY33gjn)
{% endtab %}
{% endtabs %}

## Processing

![SpatialExplorer LiDAR sensor rover Processing settings interface](/files/-LTyBmkU1D8XLP0rzFxJ)

### Fuse returns from every (RIEGL only)

If your rover mapping system includes a RIEGL LiDAR sensor,  there is an option titled “Fuse returns from every.” This option is unique only to RIEGL sensors. It will limit the amount of points used to be displayed in the real time preview based on the Nth shot and Nth line of returned points. The recommended values are 10 and 10 (giving you 1% of the acquired data). **Do not use 1 and 1**. This will result in a buffer overflow and will cause the RIEGL sensor to crash during use.

![SpatialExplorer Fuse returns from every Nth shot and Nth line option](/files/-LTyC1ItLqmBl3zsV4Im)


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