Velodyne HD HDL-64E S2.1 Istruzioni per gli Interventi Scaricare il pdf (Pagina 34)

APPENDIX F: DUAL TWO POINT CALIBRATION METHO

OLOGY

and

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float cosRotCorrection = cal->getCosRotCorrection();

float sinRotCorrection = cal->getSinRotCorrection();

float cosRotAngle = rotCosTable[data->position]*cosRotCorrection +

rotSinTable[data->position]*sinRotCorrection;

float sinRotAngle = rotSinTable[data->position]*cosRotCorrection -

rotCosTable[data->position]*sinRotCorrection;

float hOffsetCorr = cal->getHorizOffsetCorrection()IVLS_DIM_SCALE;

float vOffsetCorr = cal->getVertOffsetCorrection()IVLS_DIM_SCALE;

; IIConvert distance to X-Y plane, formular is: xyDistance = distance * cosVertAngle

float xyDistance = distance * cosVertAngle

II Calculate temporal X, use absolute value.

float xx = xyDistance * sinRotAngle - hOffsetCorr * cosRotAngle + pos.getX();

II Calculate temporal Y, use abso

lute value

float yy = xyDistance * cosRotAngle + hOffsetCorr * sinRotAngle + pos.getY();

if (xx<0) xx=-xx;

if (yy<0) yy=-yy;

IIGet 2points calibration values,Linear interpolation to get distance

correction for X and Y, that means distance correction use different value at

different distance

float distanceCorrX = (cal->getDistCorrection()-cal->getDistCorrectionX())*(xx-

240)I(2504-240)+cal->getDistCorrectionX();

float distanceCorrY = (cal->getDistCorrection()-cal->getDistCorrectionY())*(yy-

l93)I(2504-l93)+cal->getDistCorrectionY(); IIfix in V2

II Unit convert: cm converts to meter

distancel I= VLS_DIM_SCALE;

distanceCorrX I= VLS_DIM_SCALE;

distanceCorrY I= VLS_DIM_SCALE;

II Measured distance add distance correction in X.

distance = distancel+distanceCorrX;

xyDistance = distance * cosVertAngle; II Convert to X-Y plane

II Calculate X coordinate

coords[idx].setX(xyDistance * sinRotAngle - hOffsetCorr * cosRotAn

gle +

pos.getX()IVLS_DIM_SCALE);

II Measured distance add distance correction in Y.

distance = distancel+distanceCorrY;

xyDistance = distance * cosVertAngle; IIConvert to X-Y plane

II Calculate Y coordinate

coords[idx].setY(xyDistance * cosRotAngle + hOffsetCorr * sinRotAngle +

pos.getY()IVLS_DIM_SCALE);

IICalculate Z coordinate, formula is : setZ(distance * sinVertAngle +

vOffsetCorr

coords[idx].setZ(distance * sinVe

rtAngle + vOffsetCorr +

pos.getZ()IVLS_DIM_SCALE);

}

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Velodyne HD HDL-64E S2.1 Istruzioni per gli Interventi Pagina 34

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