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

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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