Velodyne Acoustics HDL-64E S2.1 user manual APPendix d MatLaB saMPLe code

aPPendix d: MatLaB saMPLe code

HDL-64E S2 and S2.1 User’s Manual

%Add high and low bytes of Rotational Correction Factor together and check if positive or negative correction factor.

RotationalCorr(i)=temp(5)*256+temp(4); if RotationalCorr(i)>32768

RotationalCorr(i)=RotationalCorr(i)-65536;

End

%Scale Rotational Correction Factor by Diving by 100. RotationalCorr(i)=RotationalCorr(i)/100;

%Add high and low bytes of remaining 2 Byte Correction Factors together and check if positive or negative correction factor, if necessary. Scale dimensions in mm to cm by Diving by 10. Scale Focal Slope by Dividing by 10.

DistanceCorr(i)=(temp(7)*256+temp(6))/10;

DistanceCorrX(i)=(temp1(2)*256+temp1(1))/10;

DistanceCorrY(i)=(temp1(4)*256+temp1(3))/10;

VerticalOffset(i)=(temp1(6)*256+temp1(5))/10;

HorizonOffset(i)=(temp2(1)*256+temp1(7)); if HorizonOffset(i)>32768

HorizonOffset(i)=HorizonOffset(i)-65536;

end HorizonOffset(i)=HorizonOffset(i)/10; FocalDist(i)=temp2(3)*256+temp2(2); if FocalDist(i)>32768

FocalDist(i)=FocalDist(i)-65536;

end FocalDist(i)=FocalDist(i)/10; FocalSlope(i)=temp2(5)*256+temp2(4); if FocalSlope(i)>32768

FocalSlope(i)=FocalSlope(i)-65536;

end FocalSlope(i)=FocalSlope(i)/10;

% Maximum and Minimum Intensity only 1 Byte each. MinIntensity(i)=temp2(6); MaxIntensity(i)=temp2(7);

End

%Done with correction factors.

%Get Unit Parameter Data s=Ind(1)

char(status(s-80:s+6)) value(s-80:s+6)

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