mit_darpa_logs_player: /home/laradmin/lar/utils/mit_darpa_logs_player/src/velodyne-newunit.h Source File

00001 /**************************************************************************************************
00002  Software License Agreement (BSD License)
00003 
00004  Copyright (c) 2011-2013, LAR toolkit developers - University of Aveiro - http://lars.mec.ua.pt
00005  All rights reserved.
00006 
00007  Redistribution and use in source and binary forms, with or without modification, are permitted
00008  provided that the following conditions are met:
00009 
00010   *Redistributions of source code must retain the above copyright notice, this list of
00011    conditions and the following disclaimer.
00012   *Redistributions in binary form must reproduce the above copyright notice, this list of
00013    conditions and the following disclaimer in the documentation and/or other materials provided
00014    with the distribution.
00015   *Neither the name of the University of Aveiro nor the names of its contributors may be used to
00016    endorse or promote products derived from this software without specific prior written permission.
00017  
00018  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR
00019  IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND
00020  FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
00021  CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
00022  DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
00023  DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER
00024  IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
00025  OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00026 ***************************************************************************************************/
00032 struct velodyne_laser_calib velodyne_uncalibrated[] = {
00033     {  -0.129905,  -0.396851,  -0.040000,   0.500000,   0.000000 }, // laser 32
00034     {  -0.073727,  -0.387918,   0.040000,   0.500000,   0.000000 }, // laser 33
00035     {   0.083776,  -0.200956,  -0.040000,   0.400000,   0.000000 }, // laser 34
00036     {   0.130900,  -0.192023,   0.040000,   0.530000,   0.000000 }, // laser 35
00037     {  -0.006981,  -0.378993,  -0.040000,   0.360000,   0.000000 }, // laser 36
00038     {   0.038397,  -0.370074,   0.040000,   0.420000,   0.000000 }, // laser 37
00039     {  -0.038109,  -0.432672,  -0.040000,   0.540000,   0.000000 }, // laser 38
00040     {   0.017781,  -0.423702,   0.040000,   0.470000,   0.000000 }, // laser 39
00041     {   0.109956,  -0.361162,  -0.040000,   0.460000,   0.000000 }, // laser 40
00042     {   0.165806,  -0.352254,   0.040000,   0.520000,   0.000000 }, // laser 41
00043     {   0.075049,  -0.414742,  -0.040000,   0.450000,   0.000000 }, // laser 42
00044     {   0.136136,  -0.405792,   0.040000,   0.570000,   0.000000 }, // laser 43
00045     {  -0.127409,  -0.289992,  -0.040000,   0.470000,   0.000000 }, // laser 44
00046     {  -0.073727,  -0.281102,   0.040000,   0.490000,   0.000000 }, // laser 45
00047     {  -0.150427,  -0.343352,  -0.040000,   0.500000,   0.000000 }, // laser 46
00048     {  -0.094119,  -0.334453,   0.040000,   0.500000,   0.000000 }, // laser 47
00049     {  -0.008727,  -0.272210,  -0.040000,   0.320000,   0.000000 }, // laser 48
00050     {   0.041888,  -0.263317,   0.040000,   0.400000,   0.000000 }, // laser 49
00051     {  -0.026180,  -0.325557,  -0.040000,   0.420000,   0.000000 }, // laser 50
00052     {   0.017781,  -0.316664,   0.040000,   0.380000,   0.000000 }, // laser 51
00053     {   0.104720,  -0.254421,  -0.040000,   0.420000,   0.000000 }, // laser 52
00054     {   0.152716,  -0.245523,   0.040000,   0.430000,   0.000000 }, // laser 53
00055     {   0.091630,  -0.307772,  -0.040000,   0.550000,   0.000000 }, // laser 54
00056     {   0.136136,  -0.298882,   0.040000,   0.600000,   0.000000 }, // laser 55
00057     {  -0.122173,  -0.183082,  -0.040000,   0.330000,   0.000000 }, // laser 56
00058     {  -0.075922,  -0.174132,   0.040000,   0.380000,   0.000000 }, // laser 57
00059     {  -0.150098,  -0.236620,  -0.040000,   0.510000,   0.000000 }, // laser 58
00060     {  -0.098611,  -0.227713,   0.040000,   0.520000,   0.000000 }, // laser 59
00061     {  -0.011345,  -0.165172,  -0.040000,   0.380000,   0.000000 }, // laser 60
00062     {   0.038109,  -0.156202,   0.040000,   0.540000,   0.000000 }, // laser 61
00063     {  -0.033161,  -0.218800,  -0.040000,   0.530000,   0.000000 }, // laser 62
00064     {   0.015708,  -0.209881,   0.040000,   0.500000,   0.000000 }, // laser 63
00065     {  -0.078540,  -0.124933,  -0.040000,   0.380000,   0.000000 }, // laser 0
00066     {  -0.049126,  -0.118993,   0.040000,   0.500000,   0.000000 }, // laser 1
00067     {   0.058469,   0.005547,  -0.040000,   0.240000,   0.000000 }, // laser 2
00068     {   0.086468,   0.011486,   0.040000,   0.460000,   0.000000 }, // laser 3
00069     {  -0.001745,  -0.113056,  -0.040000,   0.300000,   0.000000 }, // laser 4
00070     {   0.028798,  -0.107121,   0.040000,   0.420000,   0.000000 }, // laser 5
00071     {  -0.017453,  -0.148716,  -0.040000,   0.420000,   0.000000 }, // laser 6
00072     {   0.013090,  -0.142766,   0.040000,   0.430000,   0.000000 }, // laser 7
00073     {   0.074176,  -0.101188,  -0.040000,   0.440000,   0.000000 }, // laser 8
00074     {   0.099484,  -0.095256,   0.040000,   0.500000,   0.000000 }, // laser 9
00075     {   0.056723,  -0.136819,  -0.040000,   0.430000,   0.000000 }, // laser 10
00076     {   0.090757,  -0.130875,   0.040000,   0.530000,   0.000000 }, // laser 11
00077     {  -0.078889,  -0.053760,  -0.040000,   0.340000,   0.000000 }, // laser 12
00078     {  -0.049126,  -0.047833,   0.040000,   0.400000,   0.000000 }, // laser 13
00079     {  -0.094248,  -0.089326,  -0.040000,   0.350000,   0.000000 }, // laser 14
00080     {  -0.060214,  -0.083396,   0.040000,   0.420000,   0.000000 }, // laser 15
00081     {  -0.004363,  -0.041906,  -0.040000,   0.380000,   0.000000 }, // laser 16
00082     {   0.025403,  -0.035978,   0.040000,   0.440000,   0.000000 }, // laser 17
00083     {  -0.017453,  -0.077468,  -0.040000,   0.320000,   0.000000 }, // laser 18
00084     {   0.011854,  -0.071540,   0.040000,   0.400000,   0.000000 }, // laser 19
00085     {   0.071558,  -0.030050,  -0.040000,   0.300000,   0.000000 }, // laser 20
00086     {   0.100356,  -0.024121,   0.040000,   0.320000,   0.000000 }, // laser 21
00087     {   0.055851,  -0.065613,  -0.040000,   0.430000,   0.000000 }, // laser 22
00088     {   0.090757,  -0.059687,   0.040000,   0.450000,   0.000000 }, // laser 23
00089     {  -0.078540,   0.017428,  -0.040000,   0.350000,   0.000000 }, // laser 24
00090     {  -0.052360,   0.023372,   0.040000,   0.075000,   0.000000 }, // laser 25
00091     {  -0.092502,  -0.018190,  -0.040000,   0.400000,   0.000000 }, // laser 26
00092     {  -0.062694,  -0.012259,   0.040000,   0.480000,   0.000000 }, // laser 27
00093     {  -0.001745,   0.029320,  -0.040000,   0.350000,   0.000000 }, // laser 28
00094     {   0.025403,   0.035270,   0.040000,   0.390000,   0.000000 }, // laser 29
00095     {  -0.017453,  -0.006325,  -0.040000,   0.360000,   0.000000 }, // laser 30
00096     {   0.011854,  -0.000390,   0.040000,   0.420000,   0.000000 }, // laser 31
00097 };