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Velodyne HDL-64 E (calibration/transformation to xyz)

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Velodyne HDL-64 E (calibration/transformation to xyz)

innulik
Please can you help me to find information on a coorect way to transform the raw data in payload of *.pcap files to (xyz) of Velodyne?
 
I don't have problems reading packet data itself (i.e. "range" per blocks and laser beams as well as rotational angles, block ids etc....) as well as db.xml provided by the company. I also have their code snippet.  

Did someone try to use db.xml provided by them and code that they supply? Is it a correct way to work with Velodyne? I find their documentation to be written extremely bad; hope that it is not on purpose....

Does everyone write his/her own calibration code and procedure? I collected a few papers on this and I am really confused. As well as I wrote my own calibration formulas that contain one of the papers as a sub-case.

I also see that people discuss Velodyne example in PCL 1.7, but I can't locate it.

Please can you help me in any way,

Thank you a lot in advance.
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Re: Velodyne HDL-64 E (calibration/transformation to xyz)

Keven Ring
The TRUNK version of PCL (often referred to as 1.7) contains a Velodyne
HDL grabber developed under the PCL-VHDL Code Sprint.

This grabber takes a live HDL stream, or, if compiled with libpcap-devel
(Linux) or WinPCAP (Windows), a pcap file.

The grabber works with both HDL-32 and HDL-64 versions.  When using with
an HDL-64, a calibration file is required.  The grabber provides either
sectors or scans (your choice) in either corrected XYZ, XYZ+Intensity,
or XYZ+(false)RGB, where each laser has a different false RGB assigned
color.

There are two example programs that use the HDL Grabber.  If you compile
PCL, you will find these named:
bin/pcl_hdl_grabber
and
bin/pcl_hdl_viewer_simple

The first program simply prints a sweeps per second average.  The second
displays the sweeps as they arrive.  Both work with live or PCAP (if
compiled with libpcap) support.

If you have a real HDL-64, Velodyne provides a calibration file for you,
which tends to be fairly accurate.

If you have further questions, please do not hesitate to ask.

On 01/21/2013 06:29 AM, innulik wrote:

> Please can you help me to find information on a coorect way to transform the
> raw data in payload of *.pcap files to (xyz) of Velodyne?
>  
> I don't have problems reading packet data itself (i.e. "range" per blocks
> and laser beams as well as rotational angles, block ids etc....) as well as
> db.xml provided by the company. I also have their code snippet.
>
> Did someone try to use db.xml provided by them and code that they supply? Is
> it a correct way to work with Velodyne? I find their documentation to be
> written extremely bad; hope that it is not on purpose....
>
> Does everyone write his/her own calibration code and procedure? I collected
> a few papers on this and I am really confused. As well as I wrote my own
> calibration formulas that contain one of the papers as a sub-case.
>
> I also see that people discuss Velodyne example in PCL 1.7, but I can't
> locate it.
>
> Please can you help me in any way,
>
> Thank you a lot in advance.
>
>
>
>
> --
> View this message in context: http://www.pcl-users.org/Velodyne-HDL-64-E-calibration-transformation-to-xyz-tp4025560.html
> Sent from the Point Cloud Library (PCL) Users mailing list mailing list archive at Nabble.com.
> _______________________________________________
> [hidden email] / http://pointclouds.org
> http://pointclouds.org/mailman/listinfo/pcl-users

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