HDL-64E S2 manual_Rev C_2011 - Velodyne Lidar

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aPPendIx eHDL-64E S2 User’s ManualPACKET #7657:Not used(Spare)PACKET #7658:Not used(Spare)[ 29 ]
aPPendIx f: duaL tWo PoInt caLIBratIon MetHodoLoGyHDL-64E S2 User’s ManualDual Two Point Calibration Methodology and Code SamplesVelodyne uses a dual point calibration methodology to calculate the values in the db.xml file. This section describes this calibrationmethodology. The steps for the calibration are as follows:1: Perform far point calibration at 25.04m.2: Perform near point X calibration at 2.4m3: Perform near point Y calibration at 1.93m4: Perform linear interpolation to get distance correction for X and Y (Nearer than 25.00/m only)The formula for the calibration value is as follows:D y = D 1y + (D 2 - D 1y )D x = D 1x + (D 2 - D 1x )Where:x 1 = 2.4 mx 2 = 25.04 mD 1x = corrected X distance for near pointD 1y = corrected Y distance for near pointD 2x = corrected X distance for far pointD 2y = corrected X distance for far point(x - 0) _______(x 2 - 0)(x - x 1 ) _______(x 2 - x 1 )Coordinate Calculation Algorithm Sample CodefiringData::computeCoords(guint16 laserNum, boost::shared_ptr db,GLpos_t &pos){guint16 idx = laserNum % VLS_LASER_PER_FIRING;boost::shared_ptr cal = db->getCalibration(laserNum);if (data->points[idx].distance == 0) {coords[idx].setX(0.0);coords[idx].setY(0.0);coords[idx].setZ(0.0);return;}// Get measured distance, distance1float distance1 = db->getDistLSB() * (float)data->points[idx].distance;// Corrected distance by distance calibration at 25.04mfloat distance = distance1+ cal->getDistCorrection();float cosVertAngle = cal->getCosVertCorrection();float sinVertAngle = cal->getSinVertCorrection();[ 30 ]
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HDL-64E S2 manual_Rev C_2011 - Velodyne Lidar

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