Velodyne HD HDL-64E S2.1 Betriebsanleitung PDF herunterladen (Seite 35)

APPENDIX F: DUAL TWO POINT CALIBRATION METHO

OLOGY

and

’

Intensity Compensation vs Distance

Intensity compensation is done in the software for different channels by changing a parameter in the calibration window until the measurement

gets to a uniform intensity for a reference target.

focalOffset = 256 (

1 - focalDistance

)

13100

intensityVal = intensityVal + K [ focalOffset - 256 (

1 - distance

)

]

65535

Here K is the slope from the calibration data. Intensity gets to its maximum at the focal distance for different channels and from

its calibration data.

Calibration Window

The following new intensity parameters have been added in the db.xml calibration file

• focal distance: At this distance, the intensity goes to max. The focal distance is different from laser to laser. On the upper block,

it averages 1500cm. On the lower block, it averages 800cm.

• focal slope: This paramet

er controls intensity compensation. Min and Max Intensity are used to scale and offset intensity.

Intensity Value Corrected by Distance Code

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

guit laser = i + base;

if (!db->getEnabled(laser))

continue;

bool intensity =db->getlntensity(laser);

if (!intensity: {

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

} else {

guchar minlntensity = 0, maxlntensity = 0;

float intensityScale = 0;

minlntensity = db->getMinlntensity(laser);

maxlntensity = db->getMaxlntensity(laser);

IIGet intensity scale

intensityScale = (float)(maxlntensity - minlntensity);

II Get firi

ng “i” intensity

guchar inte

nsityVal = it->getPoint(i)->intensity;

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

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

II Calculate offset according calibration

float focaloffset= 256*(1-db->getFocalDistance(laser)I13100)*(1-db-

>getFocalDistance(laser)I13100);

II get slope from calibration

float focalslope = db->getFocalSlope(laser);

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