Velodyne HDL-64E S3 - Intensity Value Corrected by Distance

HDL-64E S3
High Definition LiDAR Sensor
Page 46
Velodyne LiDAR, Inc.
©
2019
63-HDL64ES3 REV K
Intensity Value Corrected by Distance
for (guint i=0; i< VLS_LASER_PER_FIRING; i++) {
guit laser = i + base;
if (!db->getEnabled(laser))
continue;
bool intensity =db->getIntensity(laser);
if (!intensity: {
glColor3fv(db->getDisplayColor(laser).rgb);
} else {
guchar minIntensity = 0, maxIntensity = 0;
fioat intensityScaie = 0;
minIntensity = db->getMinIntensity(laser);
maxIntensity = db->getMaxIntensity(laser);
//Get intensity scaie
intensityScaie = (float)(maxIntensity - minIntensity);
// Get firing “i” intensity
guchar intensityVal = it->getPoint(i)->intensity;
// Get firing “i” distance, here unit is 2mm
float distance = it->getPoint(i)->distance;
// Calculate offset according calibration
float focaloffset= 256*(l-db->getFocalDistance(laser)/l3l00)*(l-db-
>getFocalDistance(laser)/l3l00);
// get slope from calibration
float focalslope = db->getFocalSlope(laser);
// Calculate corrected intensity vs distance
float intensityVal1 = intensityVal + focalslope*(abs(focaloffset-256*(l-
distance/65535)*(l-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]);
}
GlVertex3fv(it->getCoord(i).xyz);
}
it->operator++();