Velodyne HD HDL-64E S2.1 Instrukcje Operacyjne Pobierz pdf (Strona 23)

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Matlab sample code to read calibration data from HDL-64E 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 Diving by 100.

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

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