Velodyne HD HDL-64E S2 Betriebsanleitung PDF herunterladen (Seite 25)

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Coordinate Calculation Algorithm Sample Code

After removing all the correction parameters except vertical correction,

the calculation code is:

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 == O) {

coords[idx].setX(O.O);

coords[idx].setY(O.O);

coords[idx].setZ(O.O);

return;

}

float distance = db->getDistLSB() * (float)data->points[idx].distance;

II Get measured distance, distancel

float cosVertAngle = cal->getCosVertCorrection();

float sinVertAngle = cal->getSinVertCorrection();

float cosRotAngle = rotCosTable[data->position];

float sinRotAngle = rotSinTable[data->position];

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

coords[idx].setX(xyDistance * sinRotAngle + pos.getX()IVLS_DIM_SCALE);

II Calculate X coordinate

coords[idx].setY(xyDistance * cosRotAngle + pos.getY()IVLS_DIM_SCALE);

II Calculate Y coordinate

IICalculate Z coordinate

coords[idx].setZ(distance * sinVertAngle + pos.getZ()IVLS_DIM_SCALE);

}

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Velodyne HD HDL-64E S2 Betriebsanleitung Seite 25