Velodyne DIGITAL DRIVE - REV G Especificaciones descargar pdf (Pagina 46)

HDL‐64ES3



High DefinitionLiDARSensor Page46

Velodyne,Inc.

2013



63‐HDL64ES3REV G

Intensity Value Corrected by Distance

for (guint i=0; i< VLS_LASER_PER_FIRING; i++) {

guit laser = i + base;

if (!db->getEnabled(laser))

continue;

bool intensity =db->getintensity(laser);

if (!intensity: {

glColor3fv(db->getDisplayColor(laser).rgb);

} else {

guchar minintensity = 0, maxintensity = 0;

fioat intensityScaie = 0;

minintensity = db->getMinintensity(laser);

maxintensity = db->getMaxintensity(laser);

//Get intensity scaie

intensityScaie = (float)(maxintensity - minintensity);

// Get firing “i” intensity

guchar intensityVal = it->getPoint(i)->intensity;

// Get firing “i” distance, here unit is 2mm

float distance = it->getPoint(i)->distance;

// Calculate offset according calibration

float focaloffset= 256*(l-db->getFocalDistance(laser)/l3l00)*(l-db-

>getFocalDistance(laser)/l3l00);

// get slope from calibration

float focalslope = db->getFocalSlope(laser);

// Calculate corrected intensity vs distance

float intensityVal1 = intensityVal + focalslope*(abs(focaloffset-256*(l-

distance/65535)*(l-distance/65535)));

if (intensityVal1 < minintensity) intensityVal1=minintensity;

if (intensityVal1 > maxintensity) intensityVal1=maxintensity;

// Scale to new intensity scale

float intensityColor = (float)(intensityVal1 - minintensity) /

intensityScale;

// Convert to jet color

int rgb=(int)(intensityColor*63);

glColor3f(rcolor[rgb], gcolor[rgb], bcolor[rgb]);

}

GlVertex3fv(it->getCoord(i).xyz;

}

it->operator++();

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Velodyne DIGITAL DRIVE - REV G Especificaciones Pagina 46

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