Velodyne DIGITAL DRIVE - REV G Dokumentacja Pobierz pdf (Strona 29)

HDL‐64ES3

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High DefinitionLiDARSensor Page29

Velodyne,Inc.

2013

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63‐HDL64ES3REV G

Appendix D: MATLAB Sample Code

Matlab sample code to read calibration data from sensor output.

fileFilter = ‘*.pcap‘;

[File^name,Directory]=uigetfile(fileFilter,‘Open

a .pcap file‘) ;

Filename=[Directory File^name];

tic; fid=fopen(Filename); ttc=fread(fid,40); ttc=fread(fid,42);

ttc=fread(fid,inf,‘1206*uint8=>uint8‘,58);

%ttch=dec2hex(ttc);

% Determine how many data packets.

Packet=size(ttc)/1206;

% Convert data to single precision.

S1=single(ttc(2,:))*256+single(ttc(1,:));

S2=single(ttc(102,:))*256+single(ttc(101,:));

S3=single(ttc(202,:))*256+single(ttc(201,:));

S4=single(ttc(302,:))*256+single(ttc(301,:));

for i=0:10000 % Packets loop

status(i+1)=(ttc(1205+i*1206)); value(i+1)=(ttc(1206+i*1206));

end

a=[85 78 73 84 35]

fclose(fid);

toc;

Ind=strfind(value,a);

% Loop through 64 lasers.

for i=1:64

temp=single(value(Ind(1)+64*(i—1)+16:Ind(1)+64*(i—1)+16+7));

temp1=single(value(Ind(1)+64*(i—1)+32:Ind(1)+64*(i—1)+32+7));

temp2=single(value(Ind(1)+64*(i—1)+48:Ind(1)+64*(i—1)+48+7));

temp3=single(value(Ind(1)+64*(i—1)+64:Ind(1)+64*(i—1)+64+7));

LaserId(i)=temp(1);

% Add high and low bytes of Vertical Correction Factor together and check if

positive or negative correction factor.

VerticalCorr(i)=temp(3)*256+temp(2);

if VerticalCorr(i)>32768

VerticalCorr(i)=VerticalCorr(i)—65536;

End

% Scale Vertical Correction Factor by Dividing by 100.

VerticalCorr(i)=VerticalCorr(i)/100;

% 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);

RotationalCorr(i)>32768

RotationalCorr(i)=RotationalCorr(i)—65536;

End

% Scale Rotational Correction Factor by Dividing 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 Dividing 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

1 2 ... 24 25 26 27 28 29 30 31 32 33 34 ... 53 54

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