Velodyne DIGITAL DRIVE - REV G Dokumentacja Pobierz pdf (Strona 44)

HDL‐64ES3

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High DefinitionLiDARSensor Page44

Velodyne,Inc.

2013

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63‐HDL64ES3REV G

float xyDistance = distance * cosVertAngle;// — vOffsetCorr * sinVertAngle;

float xx = xyDistance * sinRotAngle;// — hOffsetCorr * cosRotAngle + pos.getX();

float yy = xyDistance * cosRotAngle;// + hOffsetCorr * sinRotAngle + pos.getY();

if (xx<0) xx=—xx;

if (yy<0) yy=—yy;

float distanceCorrX = (cal—>getDistCorrection()—cal—>getDistCorrectionX())*(xx—

240)/(2504—240)+cal—>getDistCorrectionX();

float distanceCorrY = (cal—>getDistCorrection()—cal—>getDistCorrectionY())*(yy—

l93)/(2504—l93)+cal—>getDistCorrectionY();

if (distancel > 2500) // if larger than 25m, no interpolation.

{ distanceCorrX = cal—>getDistCorrection();

distanceCorrY = distanceCorrX ;

}

distancel /= VLS_DIM_SCALE;

distanceCorrX /= VLS_DIM_SCALE;

distanceCorrY /= VLS_DIM_SCALE;

distance = distancel+distanceCorrX;

xyDistance = distance * cosVertAngle;// — vOffsetCorr * sinVertAngle;

coords[idx].setX(xyDistance * sinRotAngle — hOffsetCorr * cosRotAngle +

pos.getX()/VLS_DIM_SCALE);

distance = distancel+distanceCorrY;

xyDistance = distance * cosVertAngle;// — vOffsetCorr * sinVertAngle;

coords[idx].setY(xyDistance * cosRotAngle + hOffsetCorr * sinRotAngle +

pos.getY()/VLS_DIM_SCALE);

//coords[idx].setX(xyDistance * sinRotAngle — hOffsetCorr * cosRotAngle +

pos.getX()/VLS_DIM_SCALE);

//coords[idx].setY(xyDistance * cosRotAngle + hOffsetCorr * sinRotAngle +

pos.getY()/VLS_DIM_SCALE);

// coords[idx].setZ(distance * sinVertAngle + vOffsetCorr * cosVertAngle +

pos.getZ()/VLS_DIM_SCALE);

coords[idx].setZ(distance * sinVertAngle + vOffsetCorr + pos.getZ()/VLS_DIM_SCALE);

}

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Velodyne DIGITAL DRIVE - REV G Dokumentacja Strona 44