LidarBiStatic1
==============

Keywords: lidar

== Summary ==
This demo is designed to demonstrate an exaggerated LASER offset
in a LIDAR system.  In this case, we shoot a single pulse from a
greatly offset laser (one that is 2 km behind the receiver) and angled
forward such that is is illuminating the space vertically underneath the
sensor. The primary reason for this demo is to show a laser instrument
that is completely independent from the gated focal plane instrument
(they are on different mounts in the platform).

== Details ==


== Important Files ==

=== The Scene ===
The scene is comprised of a single oak tree planted at [-12, 16.5, 0] on
a flat plate.  The reflectance properties are spectrally flat and not
realistic (see "lidar.mat" and the "optical" directory).  The GDB files
are in the "geometry" directory. This is the same scene as LidarStatic1,
for comparison purposes.


=== The Platform ===
The instrument is mounted on a static vehicle (see `bistatic.ppd`) directly
above the tree.

==== Transmitter Properties ====
* Laser wavelength: 1064 microns
* Pulse length: 2 ns (-sigma to +sigma of the gaussian profile)
* Pulse energy: 1 mJ

==== Receiver Properties ====
* Focal length: 400 mm
* Array size: 128 x 128 elements @ 50 micron pitch
* Range gate resolution: 1 ns

== Setup ==
The file "bistatic.xyz" is an ASCII/text point cloud that was
produced via the new detector model and point cloud generator tool
introduced in DIRSIG 4.3.  This tool is available under the "Tools
-> Lidar Tools" menu in the GUI or as "simple_processor" from the
command line.  In this case, a simple linear mode detector was
modeled.  This 3D point cloud file was plotted in a simple 3D
plotting program (gnuplot) to produce the plot in "bistatic.pdf".
Note that the data is tilted because of the orientation of the laser
-- points on the ground closer to the laser source appear to be
higher since the travel time is shorter than the far side.  You can
also see the "shadow" on the far side of the tree.
