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1,626 changes: 813 additions & 813 deletions
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nebula_decoders/calibration/velodyne/HDL64e_s2.yaml
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nebula_decoders/calibration/velodyne/HDL64e_s3.yaml
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nebula_decoders/calibration/velodyne/HDL64e_utexas.yaml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,195 +1,195 @@ | ||
| lasers: | ||
| - { | ||
| dist_correction: 0.0, | ||
| dist_correction_x: 0.0, | ||
| dist_correction_y: 0.0, | ||
| focal_distance: 0.0, | ||
| focal_slope: 0.0, | ||
| horiz_offset_correction: 0.0, | ||
| laser_id: 0, | ||
| rot_correction: 0.0, | ||
| vert_correction: -0.2617993877991494, | ||
| vert_offset_correction: 0.0, | ||
| } | ||
| - { | ||
| dist_correction: 0.0, | ||
| dist_correction_x: 0.0, | ||
| dist_correction_y: 0.0, | ||
| focal_distance: 0.0, | ||
| focal_slope: 0.0, | ||
| horiz_offset_correction: 0.0, | ||
| laser_id: 1, | ||
| rot_correction: 0.0, | ||
| vert_correction: 0.017453292519943295, | ||
| vert_offset_correction: 0.0, | ||
| } | ||
| - { | ||
| dist_correction: 0.0, | ||
| dist_correction_x: 0.0, | ||
| dist_correction_y: 0.0, | ||
| focal_distance: 0.0, | ||
| focal_slope: 0.0, | ||
| horiz_offset_correction: 0.0, | ||
| laser_id: 2, | ||
| rot_correction: 0.0, | ||
| vert_correction: -0.22689280275926285, | ||
| vert_offset_correction: 0.0, | ||
| } | ||
| - { | ||
| dist_correction: 0.0, | ||
| dist_correction_x: 0.0, | ||
| dist_correction_y: 0.0, | ||
| focal_distance: 0.0, | ||
| focal_slope: 0.0, | ||
| horiz_offset_correction: 0.0, | ||
| laser_id: 3, | ||
| rot_correction: 0.0, | ||
| vert_correction: 0.05235987755982989, | ||
| vert_offset_correction: 0.0, | ||
| } | ||
| - { | ||
| dist_correction: 0.0, | ||
| dist_correction_x: 0.0, | ||
| dist_correction_y: 0.0, | ||
| focal_distance: 0.0, | ||
| focal_slope: 0.0, | ||
| horiz_offset_correction: 0.0, | ||
| laser_id: 4, | ||
| rot_correction: 0.0, | ||
| vert_correction: -0.19198621771937624, | ||
| vert_offset_correction: 0.0, | ||
| } | ||
| - { | ||
| dist_correction: 0.0, | ||
| dist_correction_x: 0.0, | ||
| dist_correction_y: 0.0, | ||
| focal_distance: 0.0, | ||
| focal_slope: 0.0, | ||
| horiz_offset_correction: 0.0, | ||
| laser_id: 5, | ||
| rot_correction: 0.0, | ||
| vert_correction: 0.08726646259971647, | ||
| vert_offset_correction: 0.0, | ||
| } | ||
| - { | ||
| dist_correction: 0.0, | ||
| dist_correction_x: 0.0, | ||
| dist_correction_y: 0.0, | ||
| focal_distance: 0.0, | ||
| focal_slope: 0.0, | ||
| horiz_offset_correction: 0.0, | ||
| laser_id: 6, | ||
| rot_correction: 0.0, | ||
| vert_correction: -0.15707963267948966, | ||
| vert_offset_correction: 0.0, | ||
| } | ||
| - { | ||
| dist_correction: 0.0, | ||
| dist_correction_x: 0.0, | ||
| dist_correction_y: 0.0, | ||
| focal_distance: 0.0, | ||
| focal_slope: 0.0, | ||
| horiz_offset_correction: 0.0, | ||
| laser_id: 7, | ||
| rot_correction: 0.0, | ||
| vert_correction: 0.12217304763960307, | ||
| vert_offset_correction: 0.0, | ||
| } | ||
| - { | ||
| dist_correction: 0.0, | ||
| dist_correction_x: 0.0, | ||
| dist_correction_y: 0.0, | ||
| focal_distance: 0.0, | ||
| focal_slope: 0.0, | ||
| horiz_offset_correction: 0.0, | ||
| laser_id: 8, | ||
| rot_correction: 0.0, | ||
| vert_correction: -0.12217304763960307, | ||
| vert_offset_correction: 0.0, | ||
| } | ||
| - { | ||
| dist_correction: 0.0, | ||
| dist_correction_x: 0.0, | ||
| dist_correction_y: 0.0, | ||
| focal_distance: 0.0, | ||
| focal_slope: 0.0, | ||
| horiz_offset_correction: 0.0, | ||
| laser_id: 9, | ||
| rot_correction: 0.0, | ||
| vert_correction: 0.15707963267948966, | ||
| vert_offset_correction: 0.0, | ||
| } | ||
| - { | ||
| dist_correction: 0.0, | ||
| dist_correction_x: 0.0, | ||
| dist_correction_y: 0.0, | ||
| focal_distance: 0.0, | ||
| focal_slope: 0.0, | ||
| horiz_offset_correction: 0.0, | ||
| laser_id: 10, | ||
| rot_correction: 0.0, | ||
| vert_correction: -0.08726646259971647, | ||
| vert_offset_correction: 0.0, | ||
| } | ||
| - { | ||
| dist_correction: 0.0, | ||
| dist_correction_x: 0.0, | ||
| dist_correction_y: 0.0, | ||
| focal_distance: 0.0, | ||
| focal_slope: 0.0, | ||
| horiz_offset_correction: 0.0, | ||
| laser_id: 11, | ||
| rot_correction: 0.0, | ||
| vert_correction: 0.19198621771937624, | ||
| vert_offset_correction: 0.0, | ||
| } | ||
| - { | ||
| dist_correction: 0.0, | ||
| dist_correction_x: 0.0, | ||
| dist_correction_y: 0.0, | ||
| focal_distance: 0.0, | ||
| focal_slope: 0.0, | ||
| horiz_offset_correction: 0.0, | ||
| laser_id: 12, | ||
| rot_correction: 0.0, | ||
| vert_correction: -0.05235987755982989, | ||
| vert_offset_correction: 0.0, | ||
| } | ||
| - { | ||
| dist_correction: 0.0, | ||
| dist_correction_x: 0.0, | ||
| dist_correction_y: 0.0, | ||
| focal_distance: 0.0, | ||
| focal_slope: 0.0, | ||
| horiz_offset_correction: 0.0, | ||
| laser_id: 13, | ||
| rot_correction: 0.0, | ||
| vert_correction: 0.22689280275926285, | ||
| vert_offset_correction: 0.0, | ||
| } | ||
| - { | ||
| dist_correction: 0.0, | ||
| dist_correction_x: 0.0, | ||
| dist_correction_y: 0.0, | ||
| focal_distance: 0.0, | ||
| focal_slope: 0.0, | ||
| horiz_offset_correction: 0.0, | ||
| laser_id: 14, | ||
| rot_correction: 0.0, | ||
| vert_correction: -0.017453292519943295, | ||
| vert_offset_correction: 0.0, | ||
| } | ||
| - { | ||
| dist_correction: 0.0, | ||
| dist_correction_x: 0.0, | ||
| dist_correction_y: 0.0, | ||
| focal_distance: 0.0, | ||
| focal_slope: 0.0, | ||
| horiz_offset_correction: 0.0, | ||
| laser_id: 15, | ||
| rot_correction: 0.0, | ||
| vert_correction: 0.2617993877991494, | ||
| vert_offset_correction: 0.0, | ||
| - { | ||
| dist_correction: 0.0, | ||
| dist_correction_x: 0.0, | ||
| dist_correction_y: 0.0, | ||
| focal_distance: 0.0, | ||
| focal_slope: 0.0, | ||
| horiz_offset_correction: 0.0, | ||
| laser_id: 0, | ||
| rot_correction: 0.0, | ||
| vert_correction: -0.2617993877991494, | ||
| vert_offset_correction: 0.0, | ||
| } | ||
| - { | ||
| dist_correction: 0.0, | ||
| dist_correction_x: 0.0, | ||
| dist_correction_y: 0.0, | ||
| focal_distance: 0.0, | ||
| focal_slope: 0.0, | ||
| horiz_offset_correction: 0.0, | ||
| laser_id: 1, | ||
| rot_correction: 0.0, | ||
| vert_correction: 0.017453292519943295, | ||
| vert_offset_correction: 0.0, | ||
| } | ||
| - { | ||
| dist_correction: 0.0, | ||
| dist_correction_x: 0.0, | ||
| dist_correction_y: 0.0, | ||
| focal_distance: 0.0, | ||
| focal_slope: 0.0, | ||
| horiz_offset_correction: 0.0, | ||
| laser_id: 2, | ||
| rot_correction: 0.0, | ||
| vert_correction: -0.22689280275926285, | ||
| vert_offset_correction: 0.0, | ||
| } | ||
| - { | ||
| dist_correction: 0.0, | ||
| dist_correction_x: 0.0, | ||
| dist_correction_y: 0.0, | ||
| focal_distance: 0.0, | ||
| focal_slope: 0.0, | ||
| horiz_offset_correction: 0.0, | ||
| laser_id: 3, | ||
| rot_correction: 0.0, | ||
| vert_correction: 0.05235987755982989, | ||
| vert_offset_correction: 0.0, | ||
| } | ||
| - { | ||
| dist_correction: 0.0, | ||
| dist_correction_x: 0.0, | ||
| dist_correction_y: 0.0, | ||
| focal_distance: 0.0, | ||
| focal_slope: 0.0, | ||
| horiz_offset_correction: 0.0, | ||
| laser_id: 4, | ||
| rot_correction: 0.0, | ||
| vert_correction: -0.19198621771937624, | ||
| vert_offset_correction: 0.0, | ||
| } | ||
| - { | ||
| dist_correction: 0.0, | ||
| dist_correction_x: 0.0, | ||
| dist_correction_y: 0.0, | ||
| focal_distance: 0.0, | ||
| focal_slope: 0.0, | ||
| horiz_offset_correction: 0.0, | ||
| laser_id: 5, | ||
| rot_correction: 0.0, | ||
| vert_correction: 0.08726646259971647, | ||
| vert_offset_correction: 0.0, | ||
| } | ||
| - { | ||
| dist_correction: 0.0, | ||
| dist_correction_x: 0.0, | ||
| dist_correction_y: 0.0, | ||
| focal_distance: 0.0, | ||
| focal_slope: 0.0, | ||
| horiz_offset_correction: 0.0, | ||
| laser_id: 6, | ||
| rot_correction: 0.0, | ||
| vert_correction: -0.15707963267948966, | ||
| vert_offset_correction: 0.0, | ||
| } | ||
| - { | ||
| dist_correction: 0.0, | ||
| dist_correction_x: 0.0, | ||
| dist_correction_y: 0.0, | ||
| focal_distance: 0.0, | ||
| focal_slope: 0.0, | ||
| horiz_offset_correction: 0.0, | ||
| laser_id: 7, | ||
| rot_correction: 0.0, | ||
| vert_correction: 0.12217304763960307, | ||
| vert_offset_correction: 0.0, | ||
| } | ||
| - { | ||
| dist_correction: 0.0, | ||
| dist_correction_x: 0.0, | ||
| dist_correction_y: 0.0, | ||
| focal_distance: 0.0, | ||
| focal_slope: 0.0, | ||
| horiz_offset_correction: 0.0, | ||
| laser_id: 8, | ||
| rot_correction: 0.0, | ||
| vert_correction: -0.12217304763960307, | ||
| vert_offset_correction: 0.0, | ||
| } | ||
| - { | ||
| dist_correction: 0.0, | ||
| dist_correction_x: 0.0, | ||
| dist_correction_y: 0.0, | ||
| focal_distance: 0.0, | ||
| focal_slope: 0.0, | ||
| horiz_offset_correction: 0.0, | ||
| laser_id: 9, | ||
| rot_correction: 0.0, | ||
| vert_correction: 0.15707963267948966, | ||
| vert_offset_correction: 0.0, | ||
| } | ||
| - { | ||
| dist_correction: 0.0, | ||
| dist_correction_x: 0.0, | ||
| dist_correction_y: 0.0, | ||
| focal_distance: 0.0, | ||
| focal_slope: 0.0, | ||
| horiz_offset_correction: 0.0, | ||
| laser_id: 10, | ||
| rot_correction: 0.0, | ||
| vert_correction: -0.08726646259971647, | ||
| vert_offset_correction: 0.0, | ||
| } | ||
| - { | ||
| dist_correction: 0.0, | ||
| dist_correction_x: 0.0, | ||
| dist_correction_y: 0.0, | ||
| focal_distance: 0.0, | ||
| focal_slope: 0.0, | ||
| horiz_offset_correction: 0.0, | ||
| laser_id: 11, | ||
| rot_correction: 0.0, | ||
| vert_correction: 0.19198621771937624, | ||
| vert_offset_correction: 0.0, | ||
| } | ||
| - { | ||
| dist_correction: 0.0, | ||
| dist_correction_x: 0.0, | ||
| dist_correction_y: 0.0, | ||
| focal_distance: 0.0, | ||
| focal_slope: 0.0, | ||
| horiz_offset_correction: 0.0, | ||
| laser_id: 12, | ||
| rot_correction: 0.0, | ||
| vert_correction: -0.05235987755982989, | ||
| vert_offset_correction: 0.0, | ||
| } | ||
| - { | ||
| dist_correction: 0.0, | ||
| dist_correction_x: 0.0, | ||
| dist_correction_y: 0.0, | ||
| focal_distance: 0.0, | ||
| focal_slope: 0.0, | ||
| horiz_offset_correction: 0.0, | ||
| laser_id: 13, | ||
| rot_correction: 0.0, | ||
| vert_correction: 0.22689280275926285, | ||
| vert_offset_correction: 0.0, | ||
| } | ||
| - { | ||
| dist_correction: 0.0, | ||
| dist_correction_x: 0.0, | ||
| dist_correction_y: 0.0, | ||
| focal_distance: 0.0, | ||
| focal_slope: 0.0, | ||
| horiz_offset_correction: 0.0, | ||
| laser_id: 14, | ||
| rot_correction: 0.0, | ||
| vert_correction: -0.017453292519943295, | ||
| vert_offset_correction: 0.0, | ||
| } | ||
| - { | ||
| dist_correction: 0.0, | ||
| dist_correction_x: 0.0, | ||
| dist_correction_y: 0.0, | ||
| focal_distance: 0.0, | ||
| focal_slope: 0.0, | ||
| horiz_offset_correction: 0.0, | ||
| laser_id: 15, | ||
| rot_correction: 0.0, | ||
| vert_correction: 0.2617993877991494, | ||
| vert_offset_correction: 0.0, | ||
| } | ||
| num_lasers: 16 | ||
| distance_resolution: 0.002 |
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