Velodyne HD HDL-64E S2.1 - Page 36

// Calculate corrected intensity vs distance
float intensityVal1 = intensityVal + focalslope*(abs(focaloffset-256*(1-
distance/65535)*(1-distance/65535)));
if (intensityVal1 < minIntensity) intensityVal1=minIntensity;
if (intensityVal1 > maxIntensity) intensityVal1=maxIntensity;
// Scale to new intensity scale
float intensityColor = (float)(intensityVal1 - minIntensity) / intensityScale;
// Convert to jet color
int rgb=(int)(intensityColor*63);
glColor3f(rcolor[rgb], gcolor[rgb], bcolor[rgb]);
}
G1Vertex3fv(it->getCoord(i).xyz;
}
it->operator++();
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HDL-64E S2 and S2.1 User’s Manual
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