Velodyne激光距离测试

Velodyne激光距离测试

在室内测试了VLP16和HDL-32E两种激光雷达的数据输出。
根据官方手册25页左右给出的说明，激光探头是有安装误差和偏置的，因此想对偏置进行测试。

63-9113 REV J MANUAL,USER’S,HDL-32E.pdf

Coordinate Calculation Algorithm Sample Code
After removing all the correction parameters except vertical correction,
the calculation code is:
firingData::computeCoords(guintl6 laserNum, boost::shared_ptr<CalibrationDB> db,
GLpos_t &pos)
{
guintl6 idx = laserNum % VLS_LASER_PER_FIRING;
boost::shared_ptr<CalibrationPoint> cal = db->getCalibration(laserNum);
if (data->points[idx].distance == O) {
coords[idx].setX(O.O);
coords[idx].setY(O.O);
coords[idx].setZ(O.O);
return;
}
float distance = db->getDistLSB() * (float)data->points[idx].distance;
II Get measured distance, distancel
float cosVertAngle = cal->getCosVertCorrection();
float sinVertAngle = cal->getSinVertCorrect