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

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aPPendix f: duaL tWo Point caLiBration MethodoLoGy

HDL-64E S2 and S2.1 User’s Manual

// Calculate corrected intensity vs distance

float intensityVal1 = intensityVal + focalslope*(abs(focaloffset-256*(1- distance/65535)*(1-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]);

}

G1Vertex3fv(it->getCoord(i).xyz;

}

it->operator++();

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Contents

HDL-64E S2 and S2.1 E R ’ S M a N U a L a N DFront/Back Mounting Side Mounting Top Mounting Wiring BoxReading Calibration and Sensor Parameter Data Last Six Bytes ExamplesPage Introduction S2.1Box PrinciPLes of oPeration HDL-64E S2 design overviewInstaLLation oVerVieW Front/Back MountingSide Mounting Side HDL mounting illustrationTop Mounting Top HDL mounting illustrationWiring UsaGeUse the Included Point-cloud Viewer Develop Your Own Application-specific Point-cloud ViewerEstablish communication with the sensor Db.xml Calibration ParametersParameter Unit Description Values Change Run-Time Parameters Sample Batch File .batSample SERCMD.txt file Available commands Command Description ParametersControl Spin Rate Limit Horizontal FOV Data CollectedDefine Sensor Memory IP Source and Destination Addresses DestinationUpload Calibration Data External GPS Time SynchronizationGPS Equipment Packet Format and Status Byte for GPS Time Stamping Time Stamping Accuracy RulesGPS Connection Timestamp Info Accuracy Laser Firing Sequence and TimingFirMWare uPdate HDL software update screen captureIsometric View APPendix a MechanicaL draWinGsAPPendix B WirinG diaGraM Install APPendix c diGitaL sensor recorder dsrDigital Sensor Recorder DSR APPendix c diGitaL sensor recorder dsr Click the Record buttonZoom Axis RotationShift RotationalAPPendix d MatLaB saMPLe code APPendix d MatLaB saMPLe code Status Type Ascii Value Interpretation and Scaling APPendix e data PacKet forMat Data Packet FormatFirmware version 4.07 sheet 1 Firmware version 4.07 sheet 2 Firmware version 4.07 sheet 3 Last Six Bytes Examples 40 = Ver Packet #7657 Packet #7658APPendix f duaL tWo Point caLiBration MethodoLoGy Dual Two Point Calibration Methodology and Code SamplesCoordinate Calculation Algorithm Sample Code APPendix f duaL tWo Point caLiBration MethodoLoGy Intensity Compensation vs Distance Calibration WindowIntensity Value Corrected by Distance Code APPendix f duaL tWo Point caLiBration MethodoLoGy APPendix G ethernet transit tiMinG taBLe HDL-64E Ethernet Timing Table OverviewHow to use this table The table represents a sensor Laser Numbers 0-7 & 32-39 Lower,UpperAPPendix h Laser and detector arranGeMent APPendix i anGuLar resoLution RPM RPSTrouBLeshootinG Problem ResolutionSerVice and Maintenance SPecifications Velodyne LiDAR, Inc