Velodyne HD HDL-64E S2.1 Istruzioni per gli Interventi Scaricare il pdf (Pagina 33)

APPENDIX F: DUAL TWO POINT CALIBRATION METHO

OLOGY

and

’

Dual Two Point Calibration Methodology and Code Samples

Velodyne uses a dual point calibration methodology to calculate the values in the db.xml file. This section describes this calibration methodology.

The steps for the calibration are as follows:

1: Perform far point calibration at 25.04m

2: Perform near point X calibration at 2.4m

3: Perform near point Y calibration at 1.93m

4: Perform linear interpolation to get distance correction for X and Y (Nearer than 25.00m only)

The formula for the calibration value is as follows:

(x - 0)

= D

+ (D

- D

)

= D

+ (D

- D

)

- 0)

(x - x

)

- x

)

Where:

= 2.4 m

= 25.04 m

= corrected X distance for near point

= corrected Y distance for near point

= corrected X distance for far point

Coordinate Calculation Algorithm Sample Code

firingData::computeCoords(guintl6 laserNum, boost::shared_ptr<CalibrationDB> db,

GLpos_t &pos)

{

guintl6 idx = laserNum % VLS_LASER_PER_FIRING;

boost::shared_ptr<CalibrationPoint> cal = db->getCalibration(laserNum);

if (data->points[idx].distance == O) {

coords[idx].setX(O.O);

coords[idx].setY(O.O);

coords[idx].setZ(O.O);

return;

}

II Get measured distance, distancel

float distancel = db->getDistLSB() * (float)data->points[idx].distance;

II Corrected distance by distance calibration at 25.O4m

float distance = distancel+ cal->getDistCorrection();

float cosVertAngle = cal->getCosVertCorrection();

float sinVertAngle = c

al->getSinVertCorrection();

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