aPPendix f: duaL tWo Point caLiBration MethodoLoGy
Dual Two Point Calibration Methodology and Code Samples
Velodyne uses a dual point calibration methodology to calculate the values in the db.xml file. This section describes this calibration methodology. The steps for the calibration are as follows:
1:Perform far point calibration at 25.04m
2:Perform near point X calibration at 2.4m
3:Perform near point Y calibration at 1.93m
4:Perform linear interpolation to get distance correction for X and Y (Nearer than 25.00m only)
The formula for the calibration value is as follows:
(x - 0)
Dy = D1y + (D2 - D1y) _______
(x2 - 0)
Dx = D1x + (D2 - D1x ) (x - x1) (x2 - x1)
Where:
x1 = 2.4 m x2 = 25.04 m
D1x = corrected X distance for near point D1y = corrected Y distance for near point D2x = corrected X distance for far point D2y = corrected X distance for far point
Coordinate Calculation Algorithm Sample Code
firingData::computeCoords(guint16 laserNum, boost::shared_ptr<CalibrationDB> db, GLpos_t &pos)
{
guint16 idx = laserNum % VLS_LASER_PER_FIRING;
boost::shared_ptr<CalibrationPoint> cal =
if
}
// Get measured distance, distance1
float distance1 =
//Corrected distance by distance calibration at 25.04m float distance = distance1+
float cosVertAngle =
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