Velodyne DIGITAL DRIVE - REV G Instrucciones de operaciones descargar pdf (Pagina 34)

APPENDIX F: DUAL TWO POINT CALIBRATION METHODOLOGY

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()/VLS_DIM_SCALE;

float vOffsetCorr = cal—>getVertOffsetCorrection()/VLS_DIM_SCALE;

; //Convert distance to X—Y plane, formular is: xyDistance = distance * cosVert

ngle

float xyDistance = distance * cosVertAngle

// Calculate temporal X, use absolute value.

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

// Calculate temporal Y, use absolute value

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

if (xx<O) xx=—xx;

if (yy<O) yy=—yy;

//Get 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—

24O)/(25O4—24O)+cal—>getDistCorrectionX();

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

l93)/(25O4—l93)+cal—>getDistCorrectionY(); //fix in V2.O

// Unit convert: cm converts to meter

distancel /= VLS_D/M_SCALE;

distanceCorrX /= VLS_D/M_SCALE;

distanceCorrY /= VLS_D/M_SCALE;

// Measured distance add distance correction in X.

distance = distancel+distanceCorrX;

xyDistance = distance * cosVertAngle; // Convert to X—Y plane

// Calculate X coordinate

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

pos.getX()/VLS_D/M_SCALE);

// Measured distance add distance correction in Y.

distance = distancel+distanceCorrY;

xyDistance = distance * cosVertAngle; //Convert to X—Y plane

// Calculate Y coordinate

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

pos.getY()/VLS_D/M_SCALE);

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

vOffsetCorr

coords[idx].setZ(distance * sinVertAngle + vOffsetCorr +

pos.getZ()/VLS_D/M_SCALE);

}

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Velodyne DIGITAL DRIVE - REV G Instrucciones de operaciones Pagina 34

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