Velodyne Acoustics HDL-64E S2.1 user manual APPendix f duaL tWo Point caLiBration MethodoLoGy

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 * cosVertAngle 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<0) xx=-xx;

if (yy<0) 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- 240)/(2504-240)+cal->getDistCorrectionX();

float distanceCorrY = (cal->getDistCorrection()-cal->getDistCorrectionY())*(yy- 193)/(2504-193)+cal->getDistCorrectionY(); //fix in V2.0

//Unit convert: cm converts to meter distance1 /= VLS_DIM_SCALE; distanceCorrX /= VLS_DIM_SCALE; distanceCorrY /= VLS_DIM_SCALE;

//Measured distance add distance correction in X. distance = distance1+distanceCorrX;

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

//Calculate X coordinate

coords[idx].setX(xyDistance * sinRotAngle - hOffsetCorr * cosRotAngle + pos.getX()/VLS_DIM_SCALE);

//Measured distance add distance correction in Y. distance = distance1+distanceCorrY;

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

//Calculate Y coordinate

coords[idx].setY(xyDistance * cosRotAngle + hOffsetCorr * sinRotAngle + pos.getY()/VLS_DIM_SCALE);

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

coords[idx].setZ(distance * sinVertAngle + vOffsetCorr + pos.getZ()/VLS_DIM_SCALE);

}

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