HDL-64E S3
High Definition LiDAR Sensor
Page 43
Velodyne LiDAR, Inc.
©
2019
63-HDL64ES3 REV K
Appendix F: Dual Two Point Calibration Methodology &
Code Samples
Velodyne uses a dual point calibration methodology to calculate the values in the
.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)
D
x
=
D
1
x
+
(
D
2
x
−
D
1
x
)
(
x
−
x
1
)
(
x
2
−
x
1
)
Where:
x
1
=
2.4 m
x
2
=
25.04 m
y
1
=
1.93 m
D
y
=
D
1
y
+
(
D
2
x
−
D
1
y
)
(
y
−
y
1
)
(
y
2
−
y
1
)
D
1
x
=
distance
corrected in X direction for near point
D
1
y
=
distance corrected Y direction for near point
D
2
x
=
D
2
y
=
distance
correction 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 == 0) {
coords[idx].setX(0.0);
coords[idx].setY(0.0);
coords[idx].setZ(0.0);
return;
}
float distancel = db->getDistLSB() * (float)data->points[idx].distance;
float distance = di cal->getDistCorrection();
float cosVertAngle = cal->getCosVertCorrection();
float sinVertAngle = cal->getSinVertCorrection();
float cosRotCorrection = cal->getCosRotCorrection();
float sinRotCorrection = cal->getSinRotCorrection();
//g_assert(data->position < 36000);
float cosRotAngle = rotCosTable[data->position]*cosRotCorr rotSinTable[data-
>position]*sinRotCorrection;
float sinRotAngle = rotSinTable[data->position]*cosRotCorrection - rotCosTable[data-
>position]*sinRotCorrection;
//distancel /= VLS_DIM_SCALE;
//distance /= VLS_DIM_SCALE;
float hOffsetCorr = cal->getHorizOffsetCorrection()/VLS_DIM_SCALE;
float vOffsetCorr = cal->getVertOffsetCorrection()/VLS_DIM_SCALE;
Summary of Contents for HDL-64E S3
Page 1: ...USER S MANUAL AND PROGRAMMING GUIDE HDL 64E S3 High Definition LiDAR Sensor ...
Page 40: ...HDL 64E S3 High Definition LiDAR Sensor Page 40 Velodyne LiDAR Inc 2019 63 HDL64ES3 REV K ...
Page 41: ...HDL 64E S3 High Definition LiDAR Sensor Page 41 Velodyne LiDAR Inc 2019 63 HDL64ES3 REV K ...
Page 42: ...HDL 64E S3 High Definition LiDAR Sensor Page 42 Velodyne LiDAR Inc 2019 63 HDL64ES3 REV K ...
