diff --git a/nebula_decoders/calibration/velodyne/HDL32.yaml b/nebula_decoders/calibration/velodyne/HDL32.yaml index e276ec43e..7a0e6f6e4 100644 --- a/nebula_decoders/calibration/velodyne/HDL32.yaml +++ b/nebula_decoders/calibration/velodyne/HDL32.yaml @@ -1,388 +1,388 @@ # standard Velodyne HDL-32E calibration parameters 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: -0.5352924815866609, - 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: -0.1628392174657417, - 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: -0.5119050696099369, - 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: -0.13962634015954636, - 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: -0.4886921905584123, - 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: -0.11641346285335104, - 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: -0.4654793115068877, - 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: -0.09302604738596851, - 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: -0.44209189953016365, - 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: -0.06981317007977318, - 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: -0.4188790204786391, - 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: -0.046600292773577856, - 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: -0.39566614142711454, - 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: -0.023212879051524585, - 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: -0.3722787294503905, - 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: 0.0, - 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: 16, - rot_correction: 0.0, - vert_correction: -0.3490658503988659, - 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: 17, - rot_correction: 0.0, - vert_correction: 0.023212879051524585, - 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: 18, - rot_correction: 0.0, - vert_correction: -0.32585297134734137, - 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: 19, - rot_correction: 0.0, - vert_correction: 0.046600292773577856, - 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: 20, - rot_correction: 0.0, - vert_correction: -0.30246555937061725, - 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: 21, - rot_correction: 0.0, - vert_correction: 0.06981317007977318, - 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: 22, - rot_correction: 0.0, - vert_correction: -0.2792526803190927, - 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: 23, - rot_correction: 0.0, - vert_correction: 0.09302604738596851, - 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: 24, - rot_correction: 0.0, - vert_correction: -0.25603980126756815, - 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: 25, - rot_correction: 0.0, - vert_correction: 0.11641346285335104, - 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: 26, - rot_correction: 0.0, - vert_correction: -0.23265238929084414, - 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: 27, - rot_correction: 0.0, - vert_correction: 0.13962634015954636, - 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: 28, - rot_correction: 0.0, - vert_correction: -0.20943951023931956, - 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: 29, - rot_correction: 0.0, - vert_correction: 0.1628392174657417, - 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: 30, - rot_correction: 0.0, - vert_correction: -0.18622663118779495, - 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: 31, - rot_correction: 0.0, - vert_correction: 0.18622663118779495, - 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: -0.5352924815866609, + 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: -0.1628392174657417, + 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: -0.5119050696099369, + 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: -0.13962634015954636, + 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: -0.4886921905584123, + 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: -0.11641346285335104, + 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: -0.4654793115068877, + 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: -0.09302604738596851, + 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: -0.44209189953016365, + 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: -0.06981317007977318, + 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: -0.4188790204786391, + 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: -0.046600292773577856, + 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: -0.39566614142711454, + 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: -0.023212879051524585, + 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: -0.3722787294503905, + 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: 0.0, + 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: 16, + rot_correction: 0.0, + vert_correction: -0.3490658503988659, + 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: 17, + rot_correction: 0.0, + vert_correction: 0.023212879051524585, + 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: 18, + rot_correction: 0.0, + vert_correction: -0.32585297134734137, + 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: 19, + rot_correction: 0.0, + vert_correction: 0.046600292773577856, + 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: 20, + rot_correction: 0.0, + vert_correction: -0.30246555937061725, + 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: 21, + rot_correction: 0.0, + vert_correction: 0.06981317007977318, + 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: 22, + rot_correction: 0.0, + vert_correction: -0.2792526803190927, + 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: 23, + rot_correction: 0.0, + vert_correction: 0.09302604738596851, + 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: 24, + rot_correction: 0.0, + vert_correction: -0.25603980126756815, + 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: 25, + rot_correction: 0.0, + vert_correction: 0.11641346285335104, + 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: 26, + rot_correction: 0.0, + vert_correction: -0.23265238929084414, + 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: 27, + rot_correction: 0.0, + vert_correction: 0.13962634015954636, + 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: 28, + rot_correction: 0.0, + vert_correction: -0.20943951023931956, + 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: 29, + rot_correction: 0.0, + vert_correction: 0.1628392174657417, + 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: 30, + rot_correction: 0.0, + vert_correction: -0.18622663118779495, + 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: 31, + rot_correction: 0.0, + vert_correction: 0.18622663118779495, + vert_offset_correction: 0.0, } num_lasers: 32 distance_resolution: 0.002 diff --git a/nebula_decoders/calibration/velodyne/HDL64e_s2.yaml b/nebula_decoders/calibration/velodyne/HDL64e_s2.yaml index 8c1c190dc..3bc719cd0 100644 --- a/nebula_decoders/calibration/velodyne/HDL64e_s2.yaml +++ b/nebula_decoders/calibration/velodyne/HDL64e_s2.yaml @@ -1,817 +1,817 @@ lasers: - - { - dist_correction: 1.5195264000000002, - dist_correction_x: 1.5500304, - dist_correction_y: 1.5231381, - focal_distance: 12.0, - focal_slope: 1.4, - horiz_offset_correction: 0.025999999, - laser_id: 0, - max_intensity: 235.0, - min_intensity: 30.0, - rot_correction: -0.1248942899601548, - vert_correction: -0.15304134919741974, - vert_offset_correction: 0.19548199, - } - - { - dist_correction: 1.5145139, - dist_correction_x: 1.5256960000000002, - dist_correction_y: 1.5491043, - focal_distance: 5.0, - focal_slope: 1.0, - horiz_offset_correction: -0.025999999, - laser_id: 1, - min_intensity: 40.0, - rot_correction: -0.06924466398252106, - vert_correction: -0.1458455539136526, - vert_offset_correction: 0.19601112, - } - - { - dist_correction: 1.4963768, - dist_correction_x: 1.5571011, - dist_correction_y: 1.5456782999999998, - focal_distance: 5.0, - focal_slope: 0.89999998, - horiz_offset_correction: 0.025999999, - laser_id: 2, - min_intensity: 60.0, - rot_correction: 0.0824016906676694, - vert_correction: 0.04339494149708345, - vert_offset_correction: 0.20969539999999998, - } - - { - dist_correction: 1.3771207, - dist_correction_x: 1.4103835, - dist_correction_y: 1.4343457000000002, - focal_distance: 9.5, - focal_slope: 1.1, - horiz_offset_correction: -0.025999999, - laser_id: 3, - min_intensity: 20.0, - rot_correction: 0.137808349360133, - vert_correction: 0.05196082373432465, - vert_offset_correction: 0.21031273, - } - - { - dist_correction: 1.2947885, - dist_correction_x: 1.3720455999999999, - dist_correction_y: 1.4025244000000001, - focal_distance: 10.0, - focal_slope: 1.0, - horiz_offset_correction: 0.025999999, - laser_id: 4, - min_intensity: 50.0, - rot_correction: -0.011199603626188263, - vert_correction: -0.1358262679404349, - vert_offset_correction: 0.19674603999999998, - } - - { - dist_correction: 1.4395787000000002, - dist_correction_x: 1.4801956, - dist_correction_y: 1.5074649, - focal_distance: 7.0, - focal_slope: 1.0, - horiz_offset_correction: -0.025999999, - laser_id: 5, - min_intensity: 30.0, - rot_correction: 0.045795414990398894, - vert_correction: -0.12678532627942263, - vert_offset_correction: 0.19740747, - } - - { - dist_correction: 1.3618773, - dist_correction_x: 1.4004077000000001, - dist_correction_y: 1.3900876, - focal_distance: 5.0, - focal_slope: 1.1, - horiz_offset_correction: 0.025999999, - laser_id: 6, - min_intensity: 65.0, - rot_correction: -0.031646046452444135, - vert_correction: -0.1895564226946273, - vert_offset_correction: 0.19277746, - } - - { - dist_correction: 1.5325716, - dist_correction_x: 1.5337143, - dist_correction_y: 1.5452948000000002, - focal_distance: 6.0, - focal_slope: 1.0, - horiz_offset_correction: -0.025999999, - laser_id: 7, - min_intensity: 10.0, - rot_correction: 0.023408326257150665, - vert_correction: -0.18086723120040343, - vert_offset_correction: 0.19342419, - } - - { - dist_correction: 1.3743323, - dist_correction_x: 1.4474606, - dist_correction_y: 1.4533472, - focal_distance: 6.0, - focal_slope: 1.0, - horiz_offset_correction: 0.025999999, - laser_id: 8, - min_intensity: 30.0, - rot_correction: 0.10065885915180103, - vert_correction: -0.11973897655818674, - vert_offset_correction: 0.19792192, - } - - { - dist_correction: 1.4969112000000002, - dist_correction_x: 1.4754176, - dist_correction_y: 1.4888799000000001, - focal_distance: 5.0, - focal_slope: 1.0, - horiz_offset_correction: -0.025999999, - laser_id: 9, - min_intensity: 10.0, - rot_correction: 0.15996423607269877, - vert_correction: -0.10924820210484752, - vert_offset_correction: 0.19868624000000001, - } - - { - dist_correction: 1.434263, - dist_correction_x: 1.4957901000000002, - dist_correction_y: 1.5191892999999999, - focal_distance: 5.0, - focal_slope: 0.89999998, - horiz_offset_correction: 0.025999999, - laser_id: 10, - min_intensity: 35.0, - rot_correction: 0.08313316164783874, - vert_correction: -0.17135657256846043, - vert_offset_correction: 0.19412970999999998, - } - - { - dist_correction: 1.5500841, - dist_correction_x: 1.542697, - dist_correction_y: 1.5716737, - focal_distance: 8.0, - focal_slope: 1.2, - horiz_offset_correction: -0.025999999, - laser_id: 11, - min_intensity: 30.0, - rot_correction: 0.13862572370075624, - vert_correction: -0.1630088948849621, - vert_offset_correction: 0.19474705, - } - - { - dist_correction: 1.3725992, - dist_correction_x: 1.4353555, - dist_correction_y: 1.3932405, - focal_distance: 11.0, - focal_slope: 1.1, - horiz_offset_correction: 0.025999999, - laser_id: 12, - min_intensity: 50.0, - rot_correction: -0.1255805045528199, - vert_correction: -0.04526314018308893, - vert_offset_correction: 0.20331627000000002, - } - - { - dist_correction: 1.3111591000000002, - dist_correction_x: 1.3470857, - dist_correction_y: 1.3652054000000002, - focal_distance: 6.0, - focal_slope: 0.69999999, - horiz_offset_correction: -0.025999999, - laser_id: 13, - min_intensity: 30.0, - rot_correction: -0.06716508498014805, - vert_correction: -0.03587557613263058, - vert_offset_correction: 0.20399239000000002, - } - - { - dist_correction: 1.5360803, - dist_correction_x: 1.5528035, - dist_correction_y: 1.5666801000000001, - focal_distance: 8.0, - focal_slope: 1.1, - horiz_offset_correction: 0.025999999, - laser_id: 14, - min_intensity: 20.0, - rot_correction: -0.14578889529014513, - vert_correction: -0.09893566067472198, - vert_offset_correction: 0.19943586, - } - - { - dist_correction: 1.4755448999999998, - dist_correction_x: 1.5032428, - dist_correction_y: 1.5326752, - focal_distance: 5.0, - focal_slope: 0.89999998, - horiz_offset_correction: -0.025999999, - laser_id: 15, - min_intensity: 30.0, - rot_correction: -0.08892898296002069, - vert_correction: -0.09062974348423608, - vert_offset_correction: 0.20003851, - } - - { - dist_correction: 1.4410587000000001, - dist_correction_x: 1.4870845, - dist_correction_y: 1.4627965, - focal_distance: 18.0, - focal_slope: 0.5, - horiz_offset_correction: 0.025999999, - laser_id: 16, - min_intensity: 40.0, - rot_correction: -0.013006177528832626, - vert_correction: -0.02770725895504266, - vert_offset_correction: 0.20458033, - } - - { - dist_correction: 1.4434521, - dist_correction_x: 1.4897508, - dist_correction_y: 1.4791382, - focal_distance: 11.0, - focal_slope: 0.80000001, - horiz_offset_correction: -0.025999999, - laser_id: 17, - min_intensity: 55.0, - rot_correction: 0.04596628970548614, - vert_correction: -0.02014825541794774, - vert_offset_correction: 0.20512417, - } - - { - dist_correction: 1.3243448000000002, - dist_correction_x: 1.3816666000000002, - dist_correction_y: 1.3647719, - focal_distance: 12.0, - focal_slope: 1.0, - horiz_offset_correction: 0.025999999, - laser_id: 18, - min_intensity: 10.0, - rot_correction: -0.03237303019110658, - vert_correction: -0.08210824496987311, - vert_offset_correction: 0.20065581999999998, - } - - { - dist_correction: 1.4565853999999998, - dist_correction_x: 1.4340645, - dist_correction_y: 1.4550516, - focal_distance: 20.0, - focal_slope: 0.69999999, - horiz_offset_correction: -0.025999999, - laser_id: 19, - min_intensity: 30.0, - rot_correction: 0.02431275238487562, - vert_correction: -0.0727614640280461, - vert_offset_correction: 0.20133196000000003, - } - - { - dist_correction: 1.3313776, - dist_correction_x: 1.3819601000000001, - dist_correction_y: 1.3847791, - focal_distance: 5.0, - focal_slope: 0.89999998, - horiz_offset_correction: 0.025999999, - laser_id: 20, - min_intensity: 45.0, - rot_correction: 0.10029393174916004, - vert_correction: -0.009929893699589059, - vert_offset_correction: 0.20585909000000002, - } - - { - dist_correction: 1.3787535, - dist_correction_x: 1.3978789, - dist_correction_y: 1.4257806, - focal_distance: 10.0, - focal_slope: 1.1, - horiz_offset_correction: -0.025999999, - laser_id: 21, - min_intensity: 35.0, - rot_correction: 0.15867894419560363, - vert_correction: -0.0037977317325845416, - vert_offset_correction: 0.20630005, - } - - { - dist_correction: 1.3419412, - dist_correction_x: 1.4059189, - dist_correction_y: 1.4113303, - focal_distance: 11.0, - focal_slope: 1.0, - horiz_offset_correction: 0.025999999, - laser_id: 22, - min_intensity: 40.0, - rot_correction: 0.08044522544540282, - vert_correction: -0.06482699129962814, - vert_offset_correction: 0.20190518999999998, - } - - { - dist_correction: 1.4338304, - dist_correction_x: 1.4212059, - dist_correction_y: 1.4900565000000001, - focal_distance: 11.0, - focal_slope: 1.1, - horiz_offset_correction: -0.025999999, - laser_id: 23, - min_intensity: 55.0, - rot_correction: 0.13867708175932542, - vert_correction: -0.05566171063737453, - vert_offset_correction: 0.20256662, - } - - { - dist_correction: 1.4930911, - dist_correction_x: 1.5572188, - dist_correction_y: 1.5182672, - focal_distance: 5.0, - focal_slope: 1.0, - horiz_offset_correction: 0.025999999, - laser_id: 24, - min_intensity: 25.0, - rot_correction: -0.12505298227706313, - vert_correction: 0.06113007152996804, - vert_offset_correction: 0.21097416, - } - - { - dist_correction: 1.4367653000000002, - dist_correction_x: 1.4614236, - dist_correction_y: 1.4587589, - focal_distance: 3.0, - focal_slope: 1.0, - horiz_offset_correction: -0.025999999, - laser_id: 25, - min_intensity: 50.0, - rot_correction: -0.06814826559971075, - vert_correction: 0.06988221181432357, - vert_offset_correction: 0.21160620000000002, - } - - { - dist_correction: 1.5279892000000002, - dist_correction_x: 1.5686107999999999, - dist_correction_y: 1.55737, - focal_distance: 7.5, - focal_slope: 1.0, - horiz_offset_correction: 0.025999999, - laser_id: 26, - min_intensity: 30.0, - rot_correction: -0.14531660046790917, - vert_correction: 0.00887576771486082, - vert_offset_correction: 0.20721134, - } - - { - dist_correction: 1.5077638, - dist_correction_x: 1.5453738000000001, - dist_correction_y: 1.5483368, - focal_distance: 4.0, - focal_slope: 0.89999998, - horiz_offset_correction: -0.025999999, - laser_id: 27, - min_intensity: 30.0, - rot_correction: -0.08904354811745085, - vert_correction: 0.017050959569839413, - vert_offset_correction: 0.20779928000000003, - } - - { - dist_correction: 1.3627797000000001, - dist_correction_x: 1.4232985, - dist_correction_y: 1.4116524000000001, - focal_distance: 4.0, - focal_slope: 1.0, - horiz_offset_correction: 0.025999999, - laser_id: 28, - min_intensity: 50.0, - rot_correction: -0.012061568860271928, - vert_correction: 0.07842048992411524, - vert_offset_correction: 0.21222351, - } - - { - dist_correction: 1.3749608, - dist_correction_x: 1.4045798, - dist_correction_y: 1.4006630999999998, - focal_distance: 4.0, - focal_slope: 1.1, - horiz_offset_correction: -0.025999999, - laser_id: 29, - min_intensity: 40.0, - rot_correction: 0.043892943273872005, - vert_correction: 0.08674443287511571, - vert_offset_correction: 0.21282616000000001, - } - - { - dist_correction: 1.2940709000000001, - dist_correction_x: 1.392794, - dist_correction_y: 1.3225565000000001, - focal_distance: 8.0, - focal_slope: 0.89999998, - horiz_offset_correction: 0.025999999, - laser_id: 30, - min_intensity: 90.0, - rot_correction: -0.033068739374902546, - vert_correction: 0.02522388232225749, - vert_offset_correction: 0.20838722, - } - - { - dist_correction: 1.3907666, - dist_correction_x: 1.4365166, - dist_correction_y: 1.4501437000000001, - focal_distance: 9.0, - focal_slope: 1.0, - horiz_offset_correction: -0.025999999, - laser_id: 31, - min_intensity: 5.0, - rot_correction: 0.025535290948715324, - vert_correction: 0.034414332377654115, - vert_offset_correction: 0.20904865, - } - - { - dist_correction: 1.3461819, - dist_correction_x: 1.3678523000000002, - dist_correction_y: 1.3552880999999999, - focal_distance: 11.0, - focal_slope: 1.5, - horiz_offset_correction: 0.025999999, - laser_id: 32, - min_intensity: 45.0, - rot_correction: -0.13309965698710405, - vert_correction: -0.39666389380060213, - vert_offset_correction: 0.10812234999999999, - } - - { - dist_correction: 1.2487466, - dist_correction_x: 1.2929747, - dist_correction_y: 1.3438803, - focal_distance: 5.0, - focal_slope: 0.89999998, - horiz_offset_correction: -0.025999999, - laser_id: 33, - min_intensity: 35.0, - rot_correction: -0.07241159183553281, - vert_correction: -0.39021216204755743, - vert_offset_correction: 0.10859233, - } - - { - dist_correction: 1.5016498000000003, - dist_correction_x: 1.5384890999999998, - dist_correction_y: 1.5506186, - focal_distance: 4.5, - focal_slope: 1.0, - horiz_offset_correction: 0.025999999, - laser_id: 34, - min_intensity: 20.0, - rot_correction: 0.08292710807634829, - vert_correction: -0.2010672181773803, - vert_offset_correction: 0.12148494, - } - - { - dist_correction: 1.2495708, - dist_correction_x: 1.2891127, - dist_correction_y: 1.2943669, - focal_distance: 11.0, - focal_slope: 1.3, - horiz_offset_correction: -0.025999999, - laser_id: 35, - min_intensity: 25.0, - rot_correction: 0.14006506182829093, - vert_correction: -0.19103771853737994, - vert_offset_correction: 0.12213274, - } - - { - dist_correction: 1.2674536, - dist_correction_x: 1.3298663, - dist_correction_y: 1.3577469, - focal_distance: 6.0, - focal_slope: 0.89999998, - horiz_offset_correction: 0.025999999, - laser_id: 36, - min_intensity: 35.0, - rot_correction: -0.012004346320883118, - vert_correction: -0.3819670695815035, - vert_offset_correction: 0.10918932, - } - - { - dist_correction: 1.2481956, - dist_correction_x: 1.28627, - dist_correction_y: 1.29235, - focal_distance: 14.5, - focal_slope: 1.5, - horiz_offset_correction: -0.025999999, - laser_id: 37, - min_intensity: 30.0, - rot_correction: 0.04832190474636683, - vert_correction: -0.3718940414299584, - vert_offset_correction: 0.10991334, - } - - { - dist_correction: 1.4516722, - dist_correction_x: 1.4842308, - dist_correction_y: 1.4868384000000001, - focal_distance: 4.0, - focal_slope: 1.1, - horiz_offset_correction: 0.025999999, - laser_id: 38, - min_intensity: 55.0, - rot_correction: -0.03583078923869515, - vert_correction: -0.4336284663746853, - vert_offset_correction: 0.1053787, - } - - { - dist_correction: 1.3843003999999999, - dist_correction_x: 1.4010727, - dist_correction_y: 1.4332015999999999, - focal_distance: 6.5, - focal_slope: 1.3, - horiz_offset_correction: -0.025999999, - laser_id: 39, - min_intensity: 40.0, - rot_correction: 0.026883486237381612, - vert_correction: -0.4261966798867682, - vert_offset_correction: 0.10593759000000001, - } - - { - dist_correction: 1.244738, - dist_correction_x: 1.3131859000000001, - dist_correction_y: 1.354245, - focal_distance: 6.5, - focal_slope: 1.0, - horiz_offset_correction: 0.025999999, - laser_id: 40, - min_intensity: 25.0, - rot_correction: 0.1076316048478218, - vert_correction: -0.3640637439139335, - vert_offset_correction: 0.11047223, - } - - { - dist_correction: 1.3284543, - dist_correction_x: 1.3295518000000002, - dist_correction_y: 1.3809489, - focal_distance: 12.5, - focal_slope: 1.7, - horiz_offset_correction: -0.025999999, - laser_id: 41, - min_intensity: 50.0, - rot_correction: 0.1679293847080498, - vert_correction: -0.3511493721000192, - vert_offset_correction: 0.11138678, - } - - { - dist_correction: 1.4055542, - dist_correction_x: 1.4426663, - dist_correction_y: 1.430847, - focal_distance: 1.5, - focal_slope: 1.1, - horiz_offset_correction: 0.025999999, - laser_id: 42, - min_intensity: 10.0, - rot_correction: 0.0861156692854385, - vert_correction: -0.4163231777753111, - vert_offset_correction: 0.10667431000000001, - } - - { - dist_correction: 1.3529747, - dist_correction_x: 1.3834917999999998, - dist_correction_y: 1.4029074, - focal_distance: 6.0, - focal_slope: 1.2, - horiz_offset_correction: -0.025999999, - laser_id: 43, - min_intensity: 35.0, - rot_correction: 0.15024020221305323, - vert_correction: -0.4046365927302973, - vert_offset_correction: 0.10753805, - } - - { - dist_correction: 1.2407380000000001, - dist_correction_x: 1.3171521000000002, - dist_correction_y: 1.2836400000000001, - focal_distance: 15.0, - focal_slope: 1.6, - horiz_offset_correction: 0.025999999, - laser_id: 44, - max_intensity: 220.0, - rot_correction: -0.12998527227122358, - vert_correction: -0.28892197890806653, - vert_offset_correction: 0.11568009, - } - - { - dist_correction: 1.5288051999999999, - dist_correction_x: 1.5904514, - dist_correction_y: 1.6288455, - focal_distance: 10.0, - focal_slope: 0.89999998, - horiz_offset_correction: -0.025999999, - laser_id: 45, - rot_correction: -0.07009281894983248, - vert_correction: -0.28120381879648226, - vert_offset_correction: 0.11620087, - } - - { - dist_correction: 1.5423979, - dist_correction_x: 1.5919412, - dist_correction_y: 1.610177, - focal_distance: 13.0, - focal_slope: 1.7, - horiz_offset_correction: 0.025999999, - laser_id: 46, - rot_correction: -0.1533711640661691, - vert_correction: -0.34156398894148127, - vert_offset_correction: 0.11205999, - } - - { - dist_correction: 1.3086252999999999, - dist_correction_x: 1.3737134, - dist_correction_y: 1.4177727, - focal_distance: 5.5, - focal_slope: 0.89999998, - horiz_offset_correction: -0.025999999, - laser_id: 47, - rot_correction: -0.0927890927600715, - vert_correction: -0.3348332488542128, - vert_offset_correction: 0.11252997, - } - - { - dist_correction: 1.3405330000000002, - dist_correction_x: 1.4512436, - dist_correction_y: 1.4471467999999998, - focal_distance: 13.5, - focal_slope: 1.0, - horiz_offset_correction: 0.025999999, - laser_id: 48, - rot_correction: -0.012004348415278218, - vert_correction: -0.2738300470529015, - vert_offset_correction: 0.11669625, - } - - { - dist_correction: 1.2994545, - dist_correction_x: 1.3971343999999999, - dist_correction_y: 1.36849, - focal_distance: 14.0, - focal_slope: 1.0, - horiz_offset_correction: -0.025999999, - laser_id: 49, - rot_correction: 0.047471358677980184, - vert_correction: -0.2649030020882158, - vert_offset_correction: 0.11729325, - } - - { - dist_correction: 1.4499762999999999, - dist_correction_x: 1.5111346, - dist_correction_y: 1.542395, - focal_distance: 13.0, - focal_slope: 1.2, - horiz_offset_correction: 0.025999999, - laser_id: 50, - rot_correction: -0.03378136079915033, - vert_correction: -0.32678797913421975, - vert_offset_correction: 0.11308886, - } - - { - dist_correction: 1.3516956, - dist_correction_x: 1.4231836999999998, - dist_correction_y: 1.4301146, - focal_distance: 13.0, - focal_slope: 1.1, - horiz_offset_correction: -0.025999999, - laser_id: 51, - rot_correction: 0.025334358173250228, - vert_correction: -0.3179609589889659, - vert_offset_correction: 0.11369856, - } - - { - dist_correction: 1.2374236, - dist_correction_x: 1.308008, - dist_correction_y: 1.3549429000000002, - focal_distance: 5.0, - focal_slope: 0.89999998, - horiz_offset_correction: 0.025999999, - laser_id: 52, - rot_correction: 0.10481975724981128, - vert_correction: -0.25478428121685354, - vert_offset_correction: 0.11796646000000001, - } - - { - dist_correction: 1.3730562000000002, - dist_correction_x: 1.403678, - dist_correction_y: 1.4347415000000001, - focal_distance: 13.0, - focal_slope: 1.4, - horiz_offset_correction: -0.025999999, - laser_id: 53, - rot_correction: 0.16311715242247551, - vert_correction: -0.24576616497179882, - vert_offset_correction: 0.11856346000000001, - } - - { - dist_correction: 1.4445888, - dist_correction_x: 1.5025624, - dist_correction_y: 1.5189749000000001, - focal_distance: 10.0, - focal_slope: 1.0, - horiz_offset_correction: 0.025999999, - laser_id: 54, - rot_correction: 0.08384971878954978, - vert_correction: -0.31000962288931516, - vert_offset_correction: 0.11424474999999999, - } - - { - dist_correction: 1.3861449, - dist_correction_x: 1.4228815000000001, - dist_correction_y: 1.4620186000000002, - focal_distance: 15.0, - focal_slope: 1.6, - horiz_offset_correction: -0.025999999, - laser_id: 55, - rot_correction: 0.14374613400834294, - vert_correction: -0.2986601307360315, - vert_offset_correction: 0.11501958000000001, - } - - { - dist_correction: 1.4635341, - dist_correction_x: 1.5232283000000002, - dist_correction_y: 1.5063837000000002, - focal_distance: 13.0, - focal_slope: 1.3, - horiz_offset_correction: 0.025999999, - laser_id: 56, - rot_correction: -0.12741928396895377, - vert_correction: -0.18393445537456576, - vert_offset_correction: 0.12259002000000001, - } - - { - dist_correction: 1.3715826000000002, - dist_correction_x: 1.4186972, - dist_correction_y: 1.4328435, - focal_distance: 3.5, - focal_slope: 1.0, - horiz_offset_correction: -0.025999999, - laser_id: 57, - rot_correction: -0.06853129555735342, - vert_correction: -0.1744342722087932, - vert_offset_correction: 0.12319972, - } - - { - dist_correction: 1.4644831999999999, - dist_correction_x: 1.5095984000000002, - dist_correction_y: 1.5149265, - focal_distance: 11.0, - focal_slope: 1.4, - horiz_offset_correction: 0.025999999, - laser_id: 58, - rot_correction: -0.1497316045423758, - vert_correction: -0.23400086557751998, - vert_offset_correction: 0.11933828, - } - - { - dist_correction: 1.3074548, - dist_correction_x: 1.3521214000000001, - dist_correction_y: 1.3830151000000002, - focal_distance: 5.0, - focal_slope: 0.89999998, - horiz_offset_correction: -0.025999999, - laser_id: 59, - rot_correction: -0.08973572126418226, - vert_correction: -0.22644383426247983, - vert_offset_correction: 0.11983367, - } - - { - dist_correction: 1.4378391, - dist_correction_x: 1.4799687000000001, - dist_correction_y: 1.4889211, - focal_distance: 5.0, - focal_slope: 1.1, - horiz_offset_correction: 0.025999999, - laser_id: 60, - rot_correction: -0.011751946229237658, - vert_correction: -0.1678843098347878, - vert_offset_correction: 0.12361888, - } - - { - dist_correction: 1.3585466, - dist_correction_x: 1.4135242, - dist_correction_y: 1.4170488, - focal_distance: 2.0, - focal_slope: 0.89999998, - horiz_offset_correction: -0.025999999, - laser_id: 61, - rot_correction: 0.04489272721060892, - vert_correction: -0.158331168143522, - vert_offset_correction: 0.12422858, - } - - { - dist_correction: 1.4478067, - dist_correction_x: 1.5442529, - dist_correction_y: 1.5512207, - focal_distance: 10.0, - focal_slope: 1.0, - horiz_offset_correction: 0.025999999, - laser_id: 62, - rot_correction: -0.0340408982402389, - vert_correction: -0.21671681763514258, - vert_offset_correction: 0.12046877, - } - - { - dist_correction: 1.4329738, - dist_correction_x: 1.4817114, - dist_correction_y: 1.4954124, - focal_distance: 9.0, - focal_slope: 0.80000001, - horiz_offset_correction: -0.025999999, - laser_id: 63, - rot_correction: 0.024857907722065305, - vert_correction: -0.2106649408137298, - vert_offset_correction: 0.12086253, + - { + dist_correction: 1.5195264000000002, + dist_correction_x: 1.5500304, + dist_correction_y: 1.5231381, + focal_distance: 12.0, + focal_slope: 1.4, + horiz_offset_correction: 0.025999999, + laser_id: 0, + max_intensity: 235.0, + min_intensity: 30.0, + rot_correction: -0.1248942899601548, + vert_correction: -0.15304134919741974, + vert_offset_correction: 0.19548199, + } + - { + dist_correction: 1.5145139, + dist_correction_x: 1.5256960000000002, + dist_correction_y: 1.5491043, + focal_distance: 5.0, + focal_slope: 1.0, + horiz_offset_correction: -0.025999999, + laser_id: 1, + min_intensity: 40.0, + rot_correction: -0.06924466398252106, + vert_correction: -0.1458455539136526, + vert_offset_correction: 0.19601112, + } + - { + dist_correction: 1.4963768, + dist_correction_x: 1.5571011, + dist_correction_y: 1.5456782999999998, + focal_distance: 5.0, + focal_slope: 0.89999998, + horiz_offset_correction: 0.025999999, + laser_id: 2, + min_intensity: 60.0, + rot_correction: 0.0824016906676694, + vert_correction: 0.04339494149708345, + vert_offset_correction: 0.20969539999999998, + } + - { + dist_correction: 1.3771207, + dist_correction_x: 1.4103835, + dist_correction_y: 1.4343457000000002, + focal_distance: 9.5, + focal_slope: 1.1, + horiz_offset_correction: -0.025999999, + laser_id: 3, + min_intensity: 20.0, + rot_correction: 0.137808349360133, + vert_correction: 0.05196082373432465, + vert_offset_correction: 0.21031273, + } + - { + dist_correction: 1.2947885, + dist_correction_x: 1.3720455999999999, + dist_correction_y: 1.4025244000000001, + focal_distance: 10.0, + focal_slope: 1.0, + horiz_offset_correction: 0.025999999, + laser_id: 4, + min_intensity: 50.0, + rot_correction: -0.011199603626188263, + vert_correction: -0.1358262679404349, + vert_offset_correction: 0.19674603999999998, + } + - { + dist_correction: 1.4395787000000002, + dist_correction_x: 1.4801956, + dist_correction_y: 1.5074649, + focal_distance: 7.0, + focal_slope: 1.0, + horiz_offset_correction: -0.025999999, + laser_id: 5, + min_intensity: 30.0, + rot_correction: 0.045795414990398894, + vert_correction: -0.12678532627942263, + vert_offset_correction: 0.19740747, + } + - { + dist_correction: 1.3618773, + dist_correction_x: 1.4004077000000001, + dist_correction_y: 1.3900876, + focal_distance: 5.0, + focal_slope: 1.1, + horiz_offset_correction: 0.025999999, + laser_id: 6, + min_intensity: 65.0, + rot_correction: -0.031646046452444135, + vert_correction: -0.1895564226946273, + vert_offset_correction: 0.19277746, + } + - { + dist_correction: 1.5325716, + dist_correction_x: 1.5337143, + dist_correction_y: 1.5452948000000002, + focal_distance: 6.0, + focal_slope: 1.0, + horiz_offset_correction: -0.025999999, + laser_id: 7, + min_intensity: 10.0, + rot_correction: 0.023408326257150665, + vert_correction: -0.18086723120040343, + vert_offset_correction: 0.19342419, + } + - { + dist_correction: 1.3743323, + dist_correction_x: 1.4474606, + dist_correction_y: 1.4533472, + focal_distance: 6.0, + focal_slope: 1.0, + horiz_offset_correction: 0.025999999, + laser_id: 8, + min_intensity: 30.0, + rot_correction: 0.10065885915180103, + vert_correction: -0.11973897655818674, + vert_offset_correction: 0.19792192, + } + - { + dist_correction: 1.4969112000000002, + dist_correction_x: 1.4754176, + dist_correction_y: 1.4888799000000001, + focal_distance: 5.0, + focal_slope: 1.0, + horiz_offset_correction: -0.025999999, + laser_id: 9, + min_intensity: 10.0, + rot_correction: 0.15996423607269877, + vert_correction: -0.10924820210484752, + vert_offset_correction: 0.19868624000000001, + } + - { + dist_correction: 1.434263, + dist_correction_x: 1.4957901000000002, + dist_correction_y: 1.5191892999999999, + focal_distance: 5.0, + focal_slope: 0.89999998, + horiz_offset_correction: 0.025999999, + laser_id: 10, + min_intensity: 35.0, + rot_correction: 0.08313316164783874, + vert_correction: -0.17135657256846043, + vert_offset_correction: 0.19412970999999998, + } + - { + dist_correction: 1.5500841, + dist_correction_x: 1.542697, + dist_correction_y: 1.5716737, + focal_distance: 8.0, + focal_slope: 1.2, + horiz_offset_correction: -0.025999999, + laser_id: 11, + min_intensity: 30.0, + rot_correction: 0.13862572370075624, + vert_correction: -0.1630088948849621, + vert_offset_correction: 0.19474705, + } + - { + dist_correction: 1.3725992, + dist_correction_x: 1.4353555, + dist_correction_y: 1.3932405, + focal_distance: 11.0, + focal_slope: 1.1, + horiz_offset_correction: 0.025999999, + laser_id: 12, + min_intensity: 50.0, + rot_correction: -0.1255805045528199, + vert_correction: -0.04526314018308893, + vert_offset_correction: 0.20331627000000002, + } + - { + dist_correction: 1.3111591000000002, + dist_correction_x: 1.3470857, + dist_correction_y: 1.3652054000000002, + focal_distance: 6.0, + focal_slope: 0.69999999, + horiz_offset_correction: -0.025999999, + laser_id: 13, + min_intensity: 30.0, + rot_correction: -0.06716508498014805, + vert_correction: -0.03587557613263058, + vert_offset_correction: 0.20399239000000002, + } + - { + dist_correction: 1.5360803, + dist_correction_x: 1.5528035, + dist_correction_y: 1.5666801000000001, + focal_distance: 8.0, + focal_slope: 1.1, + horiz_offset_correction: 0.025999999, + laser_id: 14, + min_intensity: 20.0, + rot_correction: -0.14578889529014513, + vert_correction: -0.09893566067472198, + vert_offset_correction: 0.19943586, + } + - { + dist_correction: 1.4755448999999998, + dist_correction_x: 1.5032428, + dist_correction_y: 1.5326752, + focal_distance: 5.0, + focal_slope: 0.89999998, + horiz_offset_correction: -0.025999999, + laser_id: 15, + min_intensity: 30.0, + rot_correction: -0.08892898296002069, + vert_correction: -0.09062974348423608, + vert_offset_correction: 0.20003851, + } + - { + dist_correction: 1.4410587000000001, + dist_correction_x: 1.4870845, + dist_correction_y: 1.4627965, + focal_distance: 18.0, + focal_slope: 0.5, + horiz_offset_correction: 0.025999999, + laser_id: 16, + min_intensity: 40.0, + rot_correction: -0.013006177528832626, + vert_correction: -0.02770725895504266, + vert_offset_correction: 0.20458033, + } + - { + dist_correction: 1.4434521, + dist_correction_x: 1.4897508, + dist_correction_y: 1.4791382, + focal_distance: 11.0, + focal_slope: 0.80000001, + horiz_offset_correction: -0.025999999, + laser_id: 17, + min_intensity: 55.0, + rot_correction: 0.04596628970548614, + vert_correction: -0.02014825541794774, + vert_offset_correction: 0.20512417, + } + - { + dist_correction: 1.3243448000000002, + dist_correction_x: 1.3816666000000002, + dist_correction_y: 1.3647719, + focal_distance: 12.0, + focal_slope: 1.0, + horiz_offset_correction: 0.025999999, + laser_id: 18, + min_intensity: 10.0, + rot_correction: -0.03237303019110658, + vert_correction: -0.08210824496987311, + vert_offset_correction: 0.20065581999999998, + } + - { + dist_correction: 1.4565853999999998, + dist_correction_x: 1.4340645, + dist_correction_y: 1.4550516, + focal_distance: 20.0, + focal_slope: 0.69999999, + horiz_offset_correction: -0.025999999, + laser_id: 19, + min_intensity: 30.0, + rot_correction: 0.02431275238487562, + vert_correction: -0.0727614640280461, + vert_offset_correction: 0.20133196000000003, + } + - { + dist_correction: 1.3313776, + dist_correction_x: 1.3819601000000001, + dist_correction_y: 1.3847791, + focal_distance: 5.0, + focal_slope: 0.89999998, + horiz_offset_correction: 0.025999999, + laser_id: 20, + min_intensity: 45.0, + rot_correction: 0.10029393174916004, + vert_correction: -0.009929893699589059, + vert_offset_correction: 0.20585909000000002, + } + - { + dist_correction: 1.3787535, + dist_correction_x: 1.3978789, + dist_correction_y: 1.4257806, + focal_distance: 10.0, + focal_slope: 1.1, + horiz_offset_correction: -0.025999999, + laser_id: 21, + min_intensity: 35.0, + rot_correction: 0.15867894419560363, + vert_correction: -0.0037977317325845416, + vert_offset_correction: 0.20630005, + } + - { + dist_correction: 1.3419412, + dist_correction_x: 1.4059189, + dist_correction_y: 1.4113303, + focal_distance: 11.0, + focal_slope: 1.0, + horiz_offset_correction: 0.025999999, + laser_id: 22, + min_intensity: 40.0, + rot_correction: 0.08044522544540282, + vert_correction: -0.06482699129962814, + vert_offset_correction: 0.20190518999999998, + } + - { + dist_correction: 1.4338304, + dist_correction_x: 1.4212059, + dist_correction_y: 1.4900565000000001, + focal_distance: 11.0, + focal_slope: 1.1, + horiz_offset_correction: -0.025999999, + laser_id: 23, + min_intensity: 55.0, + rot_correction: 0.13867708175932542, + vert_correction: -0.05566171063737453, + vert_offset_correction: 0.20256662, + } + - { + dist_correction: 1.4930911, + dist_correction_x: 1.5572188, + dist_correction_y: 1.5182672, + focal_distance: 5.0, + focal_slope: 1.0, + horiz_offset_correction: 0.025999999, + laser_id: 24, + min_intensity: 25.0, + rot_correction: -0.12505298227706313, + vert_correction: 0.06113007152996804, + vert_offset_correction: 0.21097416, + } + - { + dist_correction: 1.4367653000000002, + dist_correction_x: 1.4614236, + dist_correction_y: 1.4587589, + focal_distance: 3.0, + focal_slope: 1.0, + horiz_offset_correction: -0.025999999, + laser_id: 25, + min_intensity: 50.0, + rot_correction: -0.06814826559971075, + vert_correction: 0.06988221181432357, + vert_offset_correction: 0.21160620000000002, + } + - { + dist_correction: 1.5279892000000002, + dist_correction_x: 1.5686107999999999, + dist_correction_y: 1.55737, + focal_distance: 7.5, + focal_slope: 1.0, + horiz_offset_correction: 0.025999999, + laser_id: 26, + min_intensity: 30.0, + rot_correction: -0.14531660046790917, + vert_correction: 0.00887576771486082, + vert_offset_correction: 0.20721134, + } + - { + dist_correction: 1.5077638, + dist_correction_x: 1.5453738000000001, + dist_correction_y: 1.5483368, + focal_distance: 4.0, + focal_slope: 0.89999998, + horiz_offset_correction: -0.025999999, + laser_id: 27, + min_intensity: 30.0, + rot_correction: -0.08904354811745085, + vert_correction: 0.017050959569839413, + vert_offset_correction: 0.20779928000000003, + } + - { + dist_correction: 1.3627797000000001, + dist_correction_x: 1.4232985, + dist_correction_y: 1.4116524000000001, + focal_distance: 4.0, + focal_slope: 1.0, + horiz_offset_correction: 0.025999999, + laser_id: 28, + min_intensity: 50.0, + rot_correction: -0.012061568860271928, + vert_correction: 0.07842048992411524, + vert_offset_correction: 0.21222351, + } + - { + dist_correction: 1.3749608, + dist_correction_x: 1.4045798, + dist_correction_y: 1.4006630999999998, + focal_distance: 4.0, + focal_slope: 1.1, + horiz_offset_correction: -0.025999999, + laser_id: 29, + min_intensity: 40.0, + rot_correction: 0.043892943273872005, + vert_correction: 0.08674443287511571, + vert_offset_correction: 0.21282616000000001, + } + - { + dist_correction: 1.2940709000000001, + dist_correction_x: 1.392794, + dist_correction_y: 1.3225565000000001, + focal_distance: 8.0, + focal_slope: 0.89999998, + horiz_offset_correction: 0.025999999, + laser_id: 30, + min_intensity: 90.0, + rot_correction: -0.033068739374902546, + vert_correction: 0.02522388232225749, + vert_offset_correction: 0.20838722, + } + - { + dist_correction: 1.3907666, + dist_correction_x: 1.4365166, + dist_correction_y: 1.4501437000000001, + focal_distance: 9.0, + focal_slope: 1.0, + horiz_offset_correction: -0.025999999, + laser_id: 31, + min_intensity: 5.0, + rot_correction: 0.025535290948715324, + vert_correction: 0.034414332377654115, + vert_offset_correction: 0.20904865, + } + - { + dist_correction: 1.3461819, + dist_correction_x: 1.3678523000000002, + dist_correction_y: 1.3552880999999999, + focal_distance: 11.0, + focal_slope: 1.5, + horiz_offset_correction: 0.025999999, + laser_id: 32, + min_intensity: 45.0, + rot_correction: -0.13309965698710405, + vert_correction: -0.39666389380060213, + vert_offset_correction: 0.10812234999999999, + } + - { + dist_correction: 1.2487466, + dist_correction_x: 1.2929747, + dist_correction_y: 1.3438803, + focal_distance: 5.0, + focal_slope: 0.89999998, + horiz_offset_correction: -0.025999999, + laser_id: 33, + min_intensity: 35.0, + rot_correction: -0.07241159183553281, + vert_correction: -0.39021216204755743, + vert_offset_correction: 0.10859233, + } + - { + dist_correction: 1.5016498000000003, + dist_correction_x: 1.5384890999999998, + dist_correction_y: 1.5506186, + focal_distance: 4.5, + focal_slope: 1.0, + horiz_offset_correction: 0.025999999, + laser_id: 34, + min_intensity: 20.0, + rot_correction: 0.08292710807634829, + vert_correction: -0.2010672181773803, + vert_offset_correction: 0.12148494, + } + - { + dist_correction: 1.2495708, + dist_correction_x: 1.2891127, + dist_correction_y: 1.2943669, + focal_distance: 11.0, + focal_slope: 1.3, + horiz_offset_correction: -0.025999999, + laser_id: 35, + min_intensity: 25.0, + rot_correction: 0.14006506182829093, + vert_correction: -0.19103771853737994, + vert_offset_correction: 0.12213274, + } + - { + dist_correction: 1.2674536, + dist_correction_x: 1.3298663, + dist_correction_y: 1.3577469, + focal_distance: 6.0, + focal_slope: 0.89999998, + horiz_offset_correction: 0.025999999, + laser_id: 36, + min_intensity: 35.0, + rot_correction: -0.012004346320883118, + vert_correction: -0.3819670695815035, + vert_offset_correction: 0.10918932, + } + - { + dist_correction: 1.2481956, + dist_correction_x: 1.28627, + dist_correction_y: 1.29235, + focal_distance: 14.5, + focal_slope: 1.5, + horiz_offset_correction: -0.025999999, + laser_id: 37, + min_intensity: 30.0, + rot_correction: 0.04832190474636683, + vert_correction: -0.3718940414299584, + vert_offset_correction: 0.10991334, + } + - { + dist_correction: 1.4516722, + dist_correction_x: 1.4842308, + dist_correction_y: 1.4868384000000001, + focal_distance: 4.0, + focal_slope: 1.1, + horiz_offset_correction: 0.025999999, + laser_id: 38, + min_intensity: 55.0, + rot_correction: -0.03583078923869515, + vert_correction: -0.4336284663746853, + vert_offset_correction: 0.1053787, + } + - { + dist_correction: 1.3843003999999999, + dist_correction_x: 1.4010727, + dist_correction_y: 1.4332015999999999, + focal_distance: 6.5, + focal_slope: 1.3, + horiz_offset_correction: -0.025999999, + laser_id: 39, + min_intensity: 40.0, + rot_correction: 0.026883486237381612, + vert_correction: -0.4261966798867682, + vert_offset_correction: 0.10593759000000001, + } + - { + dist_correction: 1.244738, + dist_correction_x: 1.3131859000000001, + dist_correction_y: 1.354245, + focal_distance: 6.5, + focal_slope: 1.0, + horiz_offset_correction: 0.025999999, + laser_id: 40, + min_intensity: 25.0, + rot_correction: 0.1076316048478218, + vert_correction: -0.3640637439139335, + vert_offset_correction: 0.11047223, + } + - { + dist_correction: 1.3284543, + dist_correction_x: 1.3295518000000002, + dist_correction_y: 1.3809489, + focal_distance: 12.5, + focal_slope: 1.7, + horiz_offset_correction: -0.025999999, + laser_id: 41, + min_intensity: 50.0, + rot_correction: 0.1679293847080498, + vert_correction: -0.3511493721000192, + vert_offset_correction: 0.11138678, + } + - { + dist_correction: 1.4055542, + dist_correction_x: 1.4426663, + dist_correction_y: 1.430847, + focal_distance: 1.5, + focal_slope: 1.1, + horiz_offset_correction: 0.025999999, + laser_id: 42, + min_intensity: 10.0, + rot_correction: 0.0861156692854385, + vert_correction: -0.4163231777753111, + vert_offset_correction: 0.10667431000000001, + } + - { + dist_correction: 1.3529747, + dist_correction_x: 1.3834917999999998, + dist_correction_y: 1.4029074, + focal_distance: 6.0, + focal_slope: 1.2, + horiz_offset_correction: -0.025999999, + laser_id: 43, + min_intensity: 35.0, + rot_correction: 0.15024020221305323, + vert_correction: -0.4046365927302973, + vert_offset_correction: 0.10753805, + } + - { + dist_correction: 1.2407380000000001, + dist_correction_x: 1.3171521000000002, + dist_correction_y: 1.2836400000000001, + focal_distance: 15.0, + focal_slope: 1.6, + horiz_offset_correction: 0.025999999, + laser_id: 44, + max_intensity: 220.0, + rot_correction: -0.12998527227122358, + vert_correction: -0.28892197890806653, + vert_offset_correction: 0.11568009, + } + - { + dist_correction: 1.5288051999999999, + dist_correction_x: 1.5904514, + dist_correction_y: 1.6288455, + focal_distance: 10.0, + focal_slope: 0.89999998, + horiz_offset_correction: -0.025999999, + laser_id: 45, + rot_correction: -0.07009281894983248, + vert_correction: -0.28120381879648226, + vert_offset_correction: 0.11620087, + } + - { + dist_correction: 1.5423979, + dist_correction_x: 1.5919412, + dist_correction_y: 1.610177, + focal_distance: 13.0, + focal_slope: 1.7, + horiz_offset_correction: 0.025999999, + laser_id: 46, + rot_correction: -0.1533711640661691, + vert_correction: -0.34156398894148127, + vert_offset_correction: 0.11205999, + } + - { + dist_correction: 1.3086252999999999, + dist_correction_x: 1.3737134, + dist_correction_y: 1.4177727, + focal_distance: 5.5, + focal_slope: 0.89999998, + horiz_offset_correction: -0.025999999, + laser_id: 47, + rot_correction: -0.0927890927600715, + vert_correction: -0.3348332488542128, + vert_offset_correction: 0.11252997, + } + - { + dist_correction: 1.3405330000000002, + dist_correction_x: 1.4512436, + dist_correction_y: 1.4471467999999998, + focal_distance: 13.5, + focal_slope: 1.0, + horiz_offset_correction: 0.025999999, + laser_id: 48, + rot_correction: -0.012004348415278218, + vert_correction: -0.2738300470529015, + vert_offset_correction: 0.11669625, + } + - { + dist_correction: 1.2994545, + dist_correction_x: 1.3971343999999999, + dist_correction_y: 1.36849, + focal_distance: 14.0, + focal_slope: 1.0, + horiz_offset_correction: -0.025999999, + laser_id: 49, + rot_correction: 0.047471358677980184, + vert_correction: -0.2649030020882158, + vert_offset_correction: 0.11729325, + } + - { + dist_correction: 1.4499762999999999, + dist_correction_x: 1.5111346, + dist_correction_y: 1.542395, + focal_distance: 13.0, + focal_slope: 1.2, + horiz_offset_correction: 0.025999999, + laser_id: 50, + rot_correction: -0.03378136079915033, + vert_correction: -0.32678797913421975, + vert_offset_correction: 0.11308886, + } + - { + dist_correction: 1.3516956, + dist_correction_x: 1.4231836999999998, + dist_correction_y: 1.4301146, + focal_distance: 13.0, + focal_slope: 1.1, + horiz_offset_correction: -0.025999999, + laser_id: 51, + rot_correction: 0.025334358173250228, + vert_correction: -0.3179609589889659, + vert_offset_correction: 0.11369856, + } + - { + dist_correction: 1.2374236, + dist_correction_x: 1.308008, + dist_correction_y: 1.3549429000000002, + focal_distance: 5.0, + focal_slope: 0.89999998, + horiz_offset_correction: 0.025999999, + laser_id: 52, + rot_correction: 0.10481975724981128, + vert_correction: -0.25478428121685354, + vert_offset_correction: 0.11796646000000001, + } + - { + dist_correction: 1.3730562000000002, + dist_correction_x: 1.403678, + dist_correction_y: 1.4347415000000001, + focal_distance: 13.0, + focal_slope: 1.4, + horiz_offset_correction: -0.025999999, + laser_id: 53, + rot_correction: 0.16311715242247551, + vert_correction: -0.24576616497179882, + vert_offset_correction: 0.11856346000000001, + } + - { + dist_correction: 1.4445888, + dist_correction_x: 1.5025624, + dist_correction_y: 1.5189749000000001, + focal_distance: 10.0, + focal_slope: 1.0, + horiz_offset_correction: 0.025999999, + laser_id: 54, + rot_correction: 0.08384971878954978, + vert_correction: -0.31000962288931516, + vert_offset_correction: 0.11424474999999999, + } + - { + dist_correction: 1.3861449, + dist_correction_x: 1.4228815000000001, + dist_correction_y: 1.4620186000000002, + focal_distance: 15.0, + focal_slope: 1.6, + horiz_offset_correction: -0.025999999, + laser_id: 55, + rot_correction: 0.14374613400834294, + vert_correction: -0.2986601307360315, + vert_offset_correction: 0.11501958000000001, + } + - { + dist_correction: 1.4635341, + dist_correction_x: 1.5232283000000002, + dist_correction_y: 1.5063837000000002, + focal_distance: 13.0, + focal_slope: 1.3, + horiz_offset_correction: 0.025999999, + laser_id: 56, + rot_correction: -0.12741928396895377, + vert_correction: -0.18393445537456576, + vert_offset_correction: 0.12259002000000001, + } + - { + dist_correction: 1.3715826000000002, + dist_correction_x: 1.4186972, + dist_correction_y: 1.4328435, + focal_distance: 3.5, + focal_slope: 1.0, + horiz_offset_correction: -0.025999999, + laser_id: 57, + rot_correction: -0.06853129555735342, + vert_correction: -0.1744342722087932, + vert_offset_correction: 0.12319972, + } + - { + dist_correction: 1.4644831999999999, + dist_correction_x: 1.5095984000000002, + dist_correction_y: 1.5149265, + focal_distance: 11.0, + focal_slope: 1.4, + horiz_offset_correction: 0.025999999, + laser_id: 58, + rot_correction: -0.1497316045423758, + vert_correction: -0.23400086557751998, + vert_offset_correction: 0.11933828, + } + - { + dist_correction: 1.3074548, + dist_correction_x: 1.3521214000000001, + dist_correction_y: 1.3830151000000002, + focal_distance: 5.0, + focal_slope: 0.89999998, + horiz_offset_correction: -0.025999999, + laser_id: 59, + rot_correction: -0.08973572126418226, + vert_correction: -0.22644383426247983, + vert_offset_correction: 0.11983367, + } + - { + dist_correction: 1.4378391, + dist_correction_x: 1.4799687000000001, + dist_correction_y: 1.4889211, + focal_distance: 5.0, + focal_slope: 1.1, + horiz_offset_correction: 0.025999999, + laser_id: 60, + rot_correction: -0.011751946229237658, + vert_correction: -0.1678843098347878, + vert_offset_correction: 0.12361888, + } + - { + dist_correction: 1.3585466, + dist_correction_x: 1.4135242, + dist_correction_y: 1.4170488, + focal_distance: 2.0, + focal_slope: 0.89999998, + horiz_offset_correction: -0.025999999, + laser_id: 61, + rot_correction: 0.04489272721060892, + vert_correction: -0.158331168143522, + vert_offset_correction: 0.12422858, + } + - { + dist_correction: 1.4478067, + dist_correction_x: 1.5442529, + dist_correction_y: 1.5512207, + focal_distance: 10.0, + focal_slope: 1.0, + horiz_offset_correction: 0.025999999, + laser_id: 62, + rot_correction: -0.0340408982402389, + vert_correction: -0.21671681763514258, + vert_offset_correction: 0.12046877, + } + - { + dist_correction: 1.4329738, + dist_correction_x: 1.4817114, + dist_correction_y: 1.4954124, + focal_distance: 9.0, + focal_slope: 0.80000001, + horiz_offset_correction: -0.025999999, + laser_id: 63, + rot_correction: 0.024857907722065305, + vert_correction: -0.2106649408137298, + vert_offset_correction: 0.12086253, } num_lasers: 64 distance_resolution: 0.002 diff --git a/nebula_decoders/calibration/velodyne/HDL64e_s3.yaml b/nebula_decoders/calibration/velodyne/HDL64e_s3.yaml index df8f54e11..a398407e9 100755 --- a/nebula_decoders/calibration/velodyne/HDL64e_s3.yaml +++ b/nebula_decoders/calibration/velodyne/HDL64e_s3.yaml @@ -1,788 +1,788 @@ lasers: - - { - dist_correction: 1.4139490000000001, - dist_correction_x: 1.4198446999999998, - dist_correction_y: 1.4058145, - focal_distance: 10.5, - focal_slope: 1.85, - horiz_offset_correction: 0.025999999, - laser_id: 0, - min_intensity: 5, - rot_correction: -0.07648247457737148, - vert_correction: -0.1261818455292898, - vert_offset_correction: 0.21569468, - } - - { - dist_correction: 1.5094685, - dist_correction_x: 1.5403023, - dist_correction_y: 1.5012577999999999, - focal_distance: 15.0, - focal_slope: 1.2, - horiz_offset_correction: -0.025999999, - laser_id: 1, - min_intensity: 10, - rot_correction: -0.03932070772308096, - vert_correction: -0.11953745909742221, - vert_offset_correction: 0.21520962000000002, - } - - { - dist_correction: 1.4579400999999999, - dist_correction_x: 1.4846666, - dist_correction_y: 1.4228239, - focal_distance: 24.0, - focal_slope: 1.05, - horiz_offset_correction: 0.025999999, - laser_id: 2, - min_intensity: 30, - rot_correction: 0.06005350008746038, - vert_correction: 0.00356118725906175, - vert_offset_correction: 0.20631704, - } - - { - dist_correction: 1.5046124, - dist_correction_x: 1.5335535999999999, - dist_correction_y: 1.5401996, - focal_distance: 14.5, - focal_slope: 1.7, - horiz_offset_correction: -0.025999999, - laser_id: 3, - min_intensity: 10, - rot_correction: 0.09919490315516696, - vert_correction: 0.010306535403103584, - vert_offset_correction: 0.20583200000000001, - } - - { - dist_correction: 1.4370993, - dist_correction_x: 1.4714845, - dist_correction_y: 1.4524646, - focal_distance: 15.0, - focal_slope: 0.40000001, - horiz_offset_correction: 0.025999999, - laser_id: 4, - min_intensity: 30, - rot_correction: -0.00095355016485159, - vert_correction: -0.1144967440141401, - vert_offset_correction: 0.21484217000000003, - } - - { - dist_correction: 1.3536626999999999, - dist_correction_x: 1.3909094, - dist_correction_y: 1.3700326999999999, - focal_distance: 17.0, - focal_slope: 1.45, - horiz_offset_correction: -0.025999999, - laser_id: 5, - min_intensity: 30, - rot_correction: 0.03824387099052699, - vert_correction: -0.10803612329921503, - vert_offset_correction: 0.21437181, - } - - { - dist_correction: 1.4117873, - dist_correction_x: 1.4350795, - dist_correction_y: 1.3829624999999999, - focal_distance: 10.5, - focal_slope: 1.0, - horiz_offset_correction: 0.025999999, - laser_id: 6, - min_intensity: 10, - rot_correction: -0.015297255529962315, - vert_correction: -0.14944538101702426, - vert_offset_correction: 0.21739968999999998, - } - - { - dist_correction: 1.4269646, - dist_correction_x: 1.451161, - dist_correction_y: 1.4328421, - focal_distance: 14.0, - focal_slope: 1.3, - horiz_offset_correction: -0.025999999, - laser_id: 7, - min_intensity: 10, - rot_correction: 0.024255809272700053, - vert_correction: -0.14344353231329066, - vert_offset_correction: 0.21695873, - } - - { - dist_correction: 1.3808284000000002, - dist_correction_x: 1.421472, - dist_correction_y: 1.3838283000000002, - focal_distance: 15.0, - focal_slope: 0.94999999, - horiz_offset_correction: 0.025999999, - laser_id: 8, - min_intensity: 30, - rot_correction: 0.07354442571180776, - vert_correction: -0.10278016723125998, - vert_offset_correction: 0.21398966000000003, - } - - { - dist_correction: 1.3644336000000001, - dist_correction_x: 1.3931616, - dist_correction_y: 1.3852122, - focal_distance: 12.5, - focal_slope: 1.95, - horiz_offset_correction: -0.025999999, - laser_id: 9, - min_intensity: 10, - rot_correction: 0.11317857886058363, - vert_correction: -0.09569590023202451, - vert_offset_correction: 0.21347521, - } - - { - dist_correction: 1.4102663000000002, - dist_correction_x: 1.4163402, - dist_correction_y: 1.3592377, - focal_distance: 12.5, - focal_slope: 1.95, - horiz_offset_correction: 0.025999999, - laser_id: 10, - min_intensity: 10, - rot_correction: 0.05954228616823424, - vert_correction: -0.1386345201601863, - vert_offset_correction: 0.21660597, - } - - { - dist_correction: 1.5019737000000002, - dist_correction_x: 1.532475, - dist_correction_y: 1.5237663000000001, - focal_distance: 13.0, - focal_slope: 1.9, - horiz_offset_correction: -0.025999999, - laser_id: 11, - min_intensity: 10, - rot_correction: 0.09906092120980835, - vert_correction: -0.13181073657049397, - vert_offset_correction: 0.21610622, - } - - { - dist_correction: 1.4399905000000002, - dist_correction_x: 1.4887962, - dist_correction_y: 1.4455237, - focal_distance: 14.5, - focal_slope: 1.7, - horiz_offset_correction: 0.025999999, - laser_id: 12, - max_intensity: 235, - rot_correction: -0.07574798243226695, - vert_correction: -0.054438932963427306, - vert_offset_correction: 0.21049141, - } - - { - dist_correction: 1.5207593, - dist_correction_x: 1.5401453, - dist_correction_y: 1.5190082, - focal_distance: 20.5, - focal_slope: 1.25, - horiz_offset_correction: -0.025999999, - laser_id: 13, - max_intensity: 240, - rot_correction: -0.037047761947550245, - vert_correction: -0.048730533448148504, - vert_offset_correction: 0.21007986, - } - - { - dist_correction: 1.4746239, - dist_correction_x: 1.5300989999999999, - dist_correction_y: 1.4663734, - focal_distance: 12.5, - focal_slope: 1.9, - horiz_offset_correction: 0.025999999, - laser_id: 14, - max_intensity: 245, - rot_correction: -0.0895955468906376, - vert_correction: -0.08961595328025192, - vert_offset_correction: 0.21303425, - } - - { - dist_correction: 1.4697629, - dist_correction_x: 1.5051735, - dist_correction_y: 1.4558601, - focal_distance: 19.5, - focal_slope: 0.94999999, - horiz_offset_correction: -0.025999999, - laser_id: 15, - max_intensity: 245, - rot_correction: -0.05072966149865084, - vert_correction: -0.0839353306800186, - vert_offset_correction: 0.21262267999999998, - } - - { - dist_correction: 1.4143376, - dist_correction_x: 1.4432597000000003, - dist_correction_y: 1.4038483, - focal_distance: 24.0, - focal_slope: 0.69999999, - horiz_offset_correction: 0.025999999, - laser_id: 16, - max_intensity: 245, - rot_correction: -0.001864320564407547, - vert_correction: -0.043427018903405855, - vert_offset_correction: 0.20969770000000001, - } - - { - dist_correction: 1.4815961, - dist_correction_x: 1.5173615, - dist_correction_y: 1.4871606, - focal_distance: 14.5, - focal_slope: 1.65, - horiz_offset_correction: -0.025999999, - laser_id: 17, - rot_correction: 0.03747852840556422, - vert_correction: -0.03648801216715539, - vert_offset_correction: 0.20919794, - } - - { - dist_correction: 1.420331, - dist_correction_x: 1.4755219, - dist_correction_y: 1.3919118000000001, - focal_distance: 17.5, - focal_slope: 1.4, - horiz_offset_correction: 0.025999999, - laser_id: 18, - rot_correction: -0.015194972429011364, - vert_correction: -0.07906187922560139, - vert_offset_correction: 0.21226994000000002, - } - - { - dist_correction: 1.4900717, - dist_correction_x: 1.5143349000000002, - dist_correction_y: 1.4829907, - focal_distance: 24.0, - focal_slope: 1.25, - horiz_offset_correction: -0.025999999, - laser_id: 19, - rot_correction: 0.02391977928648433, - vert_correction: -0.07255814015150577, - vert_offset_correction: 0.21179958, - } - - { - dist_correction: 1.4823865, - dist_correction_x: 1.5357741999999999, - dist_correction_y: 1.4956403, - focal_distance: 24.0, - focal_slope: 1.1, - horiz_offset_correction: 0.025999999, - laser_id: 20, - rot_correction: 0.07264374331532833, - vert_correction: -0.031587736747464255, - vert_offset_correction: 0.20884519999999998, - } - - { - dist_correction: 1.5553201, - dist_correction_x: 1.5698593, - dist_correction_y: 1.5624425, - focal_distance: 15.5, - focal_slope: 1.55, - horiz_offset_correction: -0.025999999, - laser_id: 21, - rot_correction: 0.11143265968730214, - vert_correction: -0.025460288914769372, - vert_offset_correction: 0.20840424, - } - - { - dist_correction: 1.4437845999999999, - dist_correction_x: 1.4909378000000002, - dist_correction_y: 1.4347861, - focal_distance: 20.5, - focal_slope: 1.2, - horiz_offset_correction: 0.025999999, - laser_id: 22, - rot_correction: 0.05942554283989759, - vert_correction: -0.06665878416276627, - vert_offset_correction: 0.21137333000000003, - } - - { - dist_correction: 1.4939513, - dist_correction_x: 1.5194868, - dist_correction_y: 1.5106346, - focal_distance: 14.5, - focal_slope: 1.65, - horiz_offset_correction: -0.025999999, - laser_id: 23, - rot_correction: 0.09797042203986979, - vert_correction: -0.06055112836378901, - vert_offset_correction: 0.21093236999999998, - } - - { - dist_correction: 1.4521244999999998, - dist_correction_x: 1.4884882, - dist_correction_y: 1.4649333, - focal_distance: 11.5, - focal_slope: 2.0, - horiz_offset_correction: 0.025999999, - laser_id: 24, - rot_correction: -0.07658879305408597, - vert_correction: 0.015620435355027301, - vert_offset_correction: 0.20544985000000002, - } - - { - dist_correction: 1.5351622, - dist_correction_x: 1.524973, - dist_correction_y: 1.5029565, - focal_distance: 18.5, - focal_slope: 1.25, - horiz_offset_correction: -0.025999999, - laser_id: 25, - rot_correction: -0.0379098725675606, - vert_correction: 0.022567997346205196, - vert_offset_correction: 0.20495010000000002, - } - - { - dist_correction: 1.5321327, - dist_correction_x: 1.5833431999999998, - dist_correction_y: 1.5359726, - focal_distance: 13.0, - focal_slope: 1.9, - horiz_offset_correction: 0.025999999, - laser_id: 26, - rot_correction: -0.0904730670226138, - vert_correction: -0.019943931467746017, - vert_offset_correction: 0.20800737000000002, - } - - { - dist_correction: 1.5166023000000002, - dist_correction_x: 1.4874829, - dist_correction_y: 1.4625635, - focal_distance: 21.5, - focal_slope: 1.1, - horiz_offset_correction: -0.025999999, - laser_id: 27, - rot_correction: -0.051308328902808065, - vert_correction: -0.013200099491225388, - vert_offset_correction: 0.20752234000000003, - } - - { - dist_correction: 1.4549194, - dist_correction_x: 1.4688664, - dist_correction_y: 1.4194371000000001, - focal_distance: 13.5, - focal_slope: 1.83, - horiz_offset_correction: 0.025999999, - laser_id: 28, - rot_correction: -0.0019143155208309244, - vert_correction: 0.027266617424120905, - vert_offset_correction: 0.20461203000000003, - } - - { - dist_correction: 1.5617532, - dist_correction_x: 1.5887217999999999, - dist_correction_y: 1.5643922000000001, - focal_distance: 18.5, - focal_slope: 1.35, - horiz_offset_correction: -0.025999999, - laser_id: 29, - rot_correction: 0.03681404490741569, - vert_correction: 0.03421014630846329, - vert_offset_correction: 0.20411228, - } - - { - dist_correction: 1.5132924, - dist_correction_x: 1.5661812000000002, - dist_correction_y: 1.5102689, - focal_distance: 18.5, - focal_slope: 1.35, - horiz_offset_correction: 0.025999999, - laser_id: 30, - rot_correction: -0.015542064486559148, - vert_correction: -0.007885903531460533, - vert_offset_correction: 0.20714018, - } - - { - dist_correction: 1.5638524, - dist_correction_x: 1.5621136000000002, - dist_correction_y: 1.5383017, - focal_distance: 21.5, - focal_slope: 1.15, - horiz_offset_correction: -0.025999999, - laser_id: 31, - rot_correction: 0.023284423588222334, - vert_correction: -0.0015491891506552067, - vert_offset_correction: 0.20668451000000002, - } - - { - dist_correction: 1.3077792, - dist_correction_x: 1.3433452, - dist_correction_y: 1.2840973, - focal_distance: 10.5, - focal_slope: 2.0, - horiz_offset_correction: 0.025999999, - laser_id: 32, - rot_correction: -0.1278634161583795, - vert_correction: -0.39021216204755743, - vert_offset_correction: 0.15970787, - } - - { - dist_correction: 1.4303885, - dist_correction_x: 1.4429931999999999, - dist_correction_y: 1.4607234, - focal_distance: 0.25, - focal_slope: 1.0, - horiz_offset_correction: -0.025999999, - laser_id: 33, - rot_correction: -0.066528586091226, - vert_correction: -0.38355018793281753, - vert_offset_correction: 0.15922519, - } - - { - dist_correction: 1.3746819, - dist_correction_x: 1.3873923, - dist_correction_y: 1.4089924999999999, - focal_distance: 0.25, - focal_slope: 1.0, - horiz_offset_correction: 0.025999999, - laser_id: 34, - rot_correction: 0.08854290740283328, - vert_correction: -0.197138848550284, - vert_offset_correction: 0.14656122, - } - - { - dist_correction: 1.3814778, - dist_correction_x: 1.3932765, - dist_correction_y: 1.4301869, - focal_distance: 11.0, - focal_slope: 2.0, - horiz_offset_correction: -0.025999999, - laser_id: 35, - rot_correction: 0.14547956884148489, - vert_correction: -0.18768579625563228, - vert_offset_correction: 0.14595152, - } - - { - dist_correction: 1.4313307, - dist_correction_x: 1.4734517, - dist_correction_y: 1.4390849000000001, - focal_distance: 9.5, - focal_slope: 1.85, - horiz_offset_correction: 0.025999999, - laser_id: 36, - rot_correction: -0.005071588212420635, - vert_correction: -0.3750836655445631, - vert_offset_correction: 0.15861549, - } - - { - dist_correction: 1.3414835, - dist_correction_x: 1.3820609, - dist_correction_y: 1.355589, - focal_distance: 9.5, - focal_slope: 1.4, - horiz_offset_correction: -0.025999999, - laser_id: 37, - rot_correction: 0.05427589303135225, - vert_correction: -0.36762882325722723, - vert_offset_correction: 0.15808201, - } - - { - dist_correction: 1.4895827, - dist_correction_x: 1.5283238000000001, - dist_correction_y: 1.4803529, - focal_distance: 9.0, - focal_slope: 1.65, - horiz_offset_correction: 0.025999999, - laser_id: 38, - rot_correction: -0.028143856558087547, - vert_correction: -0.4285668719175616, - vert_offset_correction: 0.16254044, - } - - { - dist_correction: 1.3727733000000002, - dist_correction_x: 1.3623596, - dist_correction_y: 1.392661, - focal_distance: 0.25, - focal_slope: 1.15, - horiz_offset_correction: -0.025999999, - laser_id: 39, - rot_correction: 0.03172272051181349, - vert_correction: -0.4214410765541042, - vert_offset_correction: 0.16200695, - } - - { - dist_correction: 1.4348983999999998, - dist_correction_x: 1.4775407000000003, - dist_correction_y: 1.4712174999999998, - focal_distance: 0.25, - focal_slope: 0.92000002, - horiz_offset_correction: 0.025999999, - laser_id: 40, - rot_correction: 0.11411698480351568, - vert_correction: -0.3565455112681652, - vert_offset_correction: 0.15729448, - } - - { - dist_correction: 1.335618, - dist_correction_x: 1.3519691, - dist_correction_y: 1.3315152000000001, - focal_distance: 11.200000000000001, - focal_slope: 2.0, - horiz_offset_correction: -0.025999999, - laser_id: 41, - rot_correction: 0.1735498527902839, - vert_correction: -0.34717860842539194, - vert_offset_correction: 0.15663397, - } - - { - dist_correction: 1.4905824, - dist_correction_x: 1.488313, - dist_correction_y: 1.4948479000000001, - focal_distance: 0.25, - focal_slope: 1.1, - horiz_offset_correction: 0.025999999, - laser_id: 42, - rot_correction: 0.09564756333839054, - vert_correction: -0.4110102035460227, - vert_offset_correction: 0.16123213, - } - - { - dist_correction: 1.3288423, - dist_correction_x: 1.3409723, - dist_correction_y: 1.3440451, - focal_distance: 10.0, - focal_slope: 1.95, - horiz_offset_correction: -0.025999999, - laser_id: 43, - rot_correction: 0.15538288292189534, - vert_correction: -0.40083030888437793, - vert_offset_correction: 0.16048269, - } - - { - dist_correction: 1.3771290999999999, - dist_correction_x: 1.3773239000000002, - dist_correction_y: 1.3497290000000002, - focal_distance: 11.5, - focal_slope: 2.0, - horiz_offset_correction: 0.025999999, - laser_id: 44, - rot_correction: -0.12413605610123538, - vert_correction: -0.2840315837972709, - vert_offset_correction: 0.15228986, - } - - { - dist_correction: 1.3367807, - dist_correction_x: 1.370152, - dist_correction_y: 1.370934, - focal_distance: 0.25, - focal_slope: 0.44999999, - horiz_offset_correction: -0.025999999, - laser_id: 45, - rot_correction: -0.06413447432303407, - vert_correction: -0.27761533458791926, - vert_offset_correction: 0.15185799, - } - - { - dist_correction: 1.4788651, - dist_correction_x: 1.5014308, - dist_correction_y: 1.4727454, - focal_distance: 11.5, - focal_slope: 2.0, - horiz_offset_correction: 0.025999999, - laser_id: 46, - rot_correction: -0.14872602785785152, - vert_correction: -0.3359268721635124, - vert_offset_correction: 0.15584644, - } - - { - dist_correction: 1.3220766000000002, - dist_correction_x: 1.3654865, - dist_correction_y: 1.3739757000000001, - focal_distance: 0.25, - focal_slope: 0.94999999, - horiz_offset_correction: -0.025999999, - laser_id: 47, - rot_correction: -0.08707280959256145, - vert_correction: -0.33026751989087316, - vert_offset_correction: 0.15545268, - } - - { - dist_correction: 1.4612433999999999, - dist_correction_x: 1.5250436, - dist_correction_y: 1.4817635999999998, - focal_distance: 13.0, - focal_slope: 1.0, - horiz_offset_correction: 0.025999999, - laser_id: 48, - rot_correction: -0.006799911150716457, - vert_correction: -0.26851710773019805, - vert_offset_correction: 0.15124829, - } - - { - dist_correction: 1.3407353000000002, - dist_correction_x: 1.3478844, - dist_correction_y: 1.3154279, - focal_distance: 13.5, - focal_slope: 1.8, - horiz_offset_correction: -0.025999999, - laser_id: 49, - rot_correction: 0.05242808851765633, - vert_correction: -0.26051854302098837, - vert_offset_correction: 0.1507148, - } - - { - dist_correction: 1.3465115, - dist_correction_x: 1.3874431999999999, - dist_correction_y: 1.3508052000000002, - focal_distance: 12.0, - focal_slope: 1.85, - horiz_offset_correction: 0.025999999, - laser_id: 50, - rot_correction: -0.028383715411859876, - vert_correction: -0.3216451745070007, - vert_offset_correction: 0.15485568000000002, - } - - { - dist_correction: 1.3629696999999998, - dist_correction_x: 1.4037315000000001, - dist_correction_y: 1.3869237, - focal_distance: 12.0, - focal_slope: 1.1, - horiz_offset_correction: -0.025999999, - laser_id: 51, - rot_correction: 0.031843273893907245, - vert_correction: -0.3135280670349956, - vert_offset_correction: 0.15429679000000002, - } - - { - dist_correction: 1.4472754, - dist_correction_x: 1.4817390000000001, - dist_correction_y: 1.4782272, - focal_distance: 2.0, - focal_slope: 1.0, - horiz_offset_correction: 0.025999999, - laser_id: 52, - rot_correction: 0.10955275158734502, - vert_correction: -0.24941678290173272, - vert_offset_correction: 0.14997807999999999, - } - - { - dist_correction: 1.3800671, - dist_correction_x: 1.3796414, - dist_correction_y: 1.3943782, - focal_distance: 11.200000000000001, - focal_slope: 2.0, - horiz_offset_correction: -0.025999999, - laser_id: 53, - rot_correction: 0.16876716543828738, - vert_correction: -0.2409525119882134, - vert_offset_correction: 0.14941919, - } - - { - dist_correction: 1.5190169, - dist_correction_x: 1.5619051, - dist_correction_y: 1.5511705, - focal_distance: 2.5, - focal_slope: 1.05, - horiz_offset_correction: 0.025999999, - laser_id: 54, - rot_correction: 0.09037283276367176, - vert_correction: -0.30313513748485243, - vert_offset_correction: 0.15358547, - } - - { - dist_correction: 1.3803656000000002, - dist_correction_x: 1.3960698, - dist_correction_y: 1.386106, - focal_distance: 12.5, - focal_slope: 1.9, - horiz_offset_correction: -0.025999999, - laser_id: 55, - rot_correction: 0.14871534295217081, - vert_correction: -0.29323634555253386, - vert_offset_correction: 0.15291226, - } - - { - dist_correction: 1.5827696, - dist_correction_x: 1.6050609, - dist_correction_y: 1.5844797, - focal_distance: 10.0, - focal_slope: 1.95, - horiz_offset_correction: 0.025999999, - laser_id: 56, - rot_correction: -0.12100867217308608, - vert_correction: -0.17760463486977288, - vert_offset_correction: 0.14530372, - } - - { - dist_correction: 1.3843919, - dist_correction_x: 1.3915251000000002, - dist_correction_y: 1.4156927, - focal_distance: 0.25, - focal_slope: 0.94999999, - horiz_offset_correction: -0.025999999, - laser_id: 57, - rot_correction: -0.06431965899265843, - vert_correction: -0.17006926832673774, - vert_offset_correction: 0.14482104, - } - - { - dist_correction: 1.5491273, - dist_correction_x: 1.5298964000000002, - dist_correction_y: 1.5107637, - focal_distance: 11.5, - focal_slope: 2.0, - horiz_offset_correction: 0.025999999, - laser_id: 58, - rot_correction: -0.14486168214370612, - vert_correction: -0.22974121500510264, - vert_offset_correction: 0.14868247, - } - - { - dist_correction: 1.3646004, - dist_correction_x: 1.3803583000000001, - dist_correction_y: 1.4061511, - focal_distance: 0.25, - focal_slope: 1.0, - horiz_offset_correction: -0.025999999, - laser_id: 59, - rot_correction: -0.0852480451703211, - vert_correction: -0.22391891879349718, - vert_offset_correction: 0.14830141, - } - - { - dist_correction: 1.5239935, - dist_correction_x: 1.560786, - dist_correction_y: 1.5632524, - focal_distance: 5.0, - focal_slope: 1.15, - horiz_offset_correction: 0.025999999, - laser_id: 60, - rot_correction: -0.005967226432828876, - vert_correction: -0.16231529056824404, - vert_offset_correction: 0.14432566, - } - - { - dist_correction: 1.4112029000000001, - dist_correction_x: 1.4223886, - dist_correction_y: 1.4542918, - focal_distance: 2.5, - focal_slope: 1.05, - horiz_offset_correction: -0.025999999, - laser_id: 61, - rot_correction: 0.050600613599087636, - vert_correction: -0.15314424682880032, - vert_offset_correction: 0.14374136, - } - - { - dist_correction: 1.5013637, - dist_correction_x: 1.5208610999999999, - dist_correction_y: 1.5006433000000001, - focal_distance: 16.5, - focal_slope: 1.25, - horiz_offset_correction: 0.025999999, - laser_id: 62, - rot_correction: -0.027436902217920986, - vert_correction: -0.21457119711920336, - vert_offset_correction: 0.14769171, - } - - { - dist_correction: 1.4423058, - dist_correction_x: 1.4454633000000001, - dist_correction_y: 1.4321198000000002, - focal_distance: 9.0, - focal_slope: 1.45, - horiz_offset_correction: -0.025999999, - laser_id: 63, - rot_correction: 0.0290479702718764, - vert_correction: -0.2079266762969834, - vert_offset_correction: 0.14725984, + - { + dist_correction: 1.4139490000000001, + dist_correction_x: 1.4198446999999998, + dist_correction_y: 1.4058145, + focal_distance: 10.5, + focal_slope: 1.85, + horiz_offset_correction: 0.025999999, + laser_id: 0, + min_intensity: 5, + rot_correction: -0.07648247457737148, + vert_correction: -0.1261818455292898, + vert_offset_correction: 0.21569468, + } + - { + dist_correction: 1.5094685, + dist_correction_x: 1.5403023, + dist_correction_y: 1.5012577999999999, + focal_distance: 15.0, + focal_slope: 1.2, + horiz_offset_correction: -0.025999999, + laser_id: 1, + min_intensity: 10, + rot_correction: -0.03932070772308096, + vert_correction: -0.11953745909742221, + vert_offset_correction: 0.21520962000000002, + } + - { + dist_correction: 1.4579400999999999, + dist_correction_x: 1.4846666, + dist_correction_y: 1.4228239, + focal_distance: 24.0, + focal_slope: 1.05, + horiz_offset_correction: 0.025999999, + laser_id: 2, + min_intensity: 30, + rot_correction: 0.06005350008746038, + vert_correction: 0.00356118725906175, + vert_offset_correction: 0.20631704, + } + - { + dist_correction: 1.5046124, + dist_correction_x: 1.5335535999999999, + dist_correction_y: 1.5401996, + focal_distance: 14.5, + focal_slope: 1.7, + horiz_offset_correction: -0.025999999, + laser_id: 3, + min_intensity: 10, + rot_correction: 0.09919490315516696, + vert_correction: 0.010306535403103584, + vert_offset_correction: 0.20583200000000001, + } + - { + dist_correction: 1.4370993, + dist_correction_x: 1.4714845, + dist_correction_y: 1.4524646, + focal_distance: 15.0, + focal_slope: 0.40000001, + horiz_offset_correction: 0.025999999, + laser_id: 4, + min_intensity: 30, + rot_correction: -0.00095355016485159, + vert_correction: -0.1144967440141401, + vert_offset_correction: 0.21484217000000003, + } + - { + dist_correction: 1.3536626999999999, + dist_correction_x: 1.3909094, + dist_correction_y: 1.3700326999999999, + focal_distance: 17.0, + focal_slope: 1.45, + horiz_offset_correction: -0.025999999, + laser_id: 5, + min_intensity: 30, + rot_correction: 0.03824387099052699, + vert_correction: -0.10803612329921503, + vert_offset_correction: 0.21437181, + } + - { + dist_correction: 1.4117873, + dist_correction_x: 1.4350795, + dist_correction_y: 1.3829624999999999, + focal_distance: 10.5, + focal_slope: 1.0, + horiz_offset_correction: 0.025999999, + laser_id: 6, + min_intensity: 10, + rot_correction: -0.015297255529962315, + vert_correction: -0.14944538101702426, + vert_offset_correction: 0.21739968999999998, + } + - { + dist_correction: 1.4269646, + dist_correction_x: 1.451161, + dist_correction_y: 1.4328421, + focal_distance: 14.0, + focal_slope: 1.3, + horiz_offset_correction: -0.025999999, + laser_id: 7, + min_intensity: 10, + rot_correction: 0.024255809272700053, + vert_correction: -0.14344353231329066, + vert_offset_correction: 0.21695873, + } + - { + dist_correction: 1.3808284000000002, + dist_correction_x: 1.421472, + dist_correction_y: 1.3838283000000002, + focal_distance: 15.0, + focal_slope: 0.94999999, + horiz_offset_correction: 0.025999999, + laser_id: 8, + min_intensity: 30, + rot_correction: 0.07354442571180776, + vert_correction: -0.10278016723125998, + vert_offset_correction: 0.21398966000000003, + } + - { + dist_correction: 1.3644336000000001, + dist_correction_x: 1.3931616, + dist_correction_y: 1.3852122, + focal_distance: 12.5, + focal_slope: 1.95, + horiz_offset_correction: -0.025999999, + laser_id: 9, + min_intensity: 10, + rot_correction: 0.11317857886058363, + vert_correction: -0.09569590023202451, + vert_offset_correction: 0.21347521, + } + - { + dist_correction: 1.4102663000000002, + dist_correction_x: 1.4163402, + dist_correction_y: 1.3592377, + focal_distance: 12.5, + focal_slope: 1.95, + horiz_offset_correction: 0.025999999, + laser_id: 10, + min_intensity: 10, + rot_correction: 0.05954228616823424, + vert_correction: -0.1386345201601863, + vert_offset_correction: 0.21660597, + } + - { + dist_correction: 1.5019737000000002, + dist_correction_x: 1.532475, + dist_correction_y: 1.5237663000000001, + focal_distance: 13.0, + focal_slope: 1.9, + horiz_offset_correction: -0.025999999, + laser_id: 11, + min_intensity: 10, + rot_correction: 0.09906092120980835, + vert_correction: -0.13181073657049397, + vert_offset_correction: 0.21610622, + } + - { + dist_correction: 1.4399905000000002, + dist_correction_x: 1.4887962, + dist_correction_y: 1.4455237, + focal_distance: 14.5, + focal_slope: 1.7, + horiz_offset_correction: 0.025999999, + laser_id: 12, + max_intensity: 235, + rot_correction: -0.07574798243226695, + vert_correction: -0.054438932963427306, + vert_offset_correction: 0.21049141, + } + - { + dist_correction: 1.5207593, + dist_correction_x: 1.5401453, + dist_correction_y: 1.5190082, + focal_distance: 20.5, + focal_slope: 1.25, + horiz_offset_correction: -0.025999999, + laser_id: 13, + max_intensity: 240, + rot_correction: -0.037047761947550245, + vert_correction: -0.048730533448148504, + vert_offset_correction: 0.21007986, + } + - { + dist_correction: 1.4746239, + dist_correction_x: 1.5300989999999999, + dist_correction_y: 1.4663734, + focal_distance: 12.5, + focal_slope: 1.9, + horiz_offset_correction: 0.025999999, + laser_id: 14, + max_intensity: 245, + rot_correction: -0.0895955468906376, + vert_correction: -0.08961595328025192, + vert_offset_correction: 0.21303425, + } + - { + dist_correction: 1.4697629, + dist_correction_x: 1.5051735, + dist_correction_y: 1.4558601, + focal_distance: 19.5, + focal_slope: 0.94999999, + horiz_offset_correction: -0.025999999, + laser_id: 15, + max_intensity: 245, + rot_correction: -0.05072966149865084, + vert_correction: -0.0839353306800186, + vert_offset_correction: 0.21262267999999998, + } + - { + dist_correction: 1.4143376, + dist_correction_x: 1.4432597000000003, + dist_correction_y: 1.4038483, + focal_distance: 24.0, + focal_slope: 0.69999999, + horiz_offset_correction: 0.025999999, + laser_id: 16, + max_intensity: 245, + rot_correction: -0.001864320564407547, + vert_correction: -0.043427018903405855, + vert_offset_correction: 0.20969770000000001, + } + - { + dist_correction: 1.4815961, + dist_correction_x: 1.5173615, + dist_correction_y: 1.4871606, + focal_distance: 14.5, + focal_slope: 1.65, + horiz_offset_correction: -0.025999999, + laser_id: 17, + rot_correction: 0.03747852840556422, + vert_correction: -0.03648801216715539, + vert_offset_correction: 0.20919794, + } + - { + dist_correction: 1.420331, + dist_correction_x: 1.4755219, + dist_correction_y: 1.3919118000000001, + focal_distance: 17.5, + focal_slope: 1.4, + horiz_offset_correction: 0.025999999, + laser_id: 18, + rot_correction: -0.015194972429011364, + vert_correction: -0.07906187922560139, + vert_offset_correction: 0.21226994000000002, + } + - { + dist_correction: 1.4900717, + dist_correction_x: 1.5143349000000002, + dist_correction_y: 1.4829907, + focal_distance: 24.0, + focal_slope: 1.25, + horiz_offset_correction: -0.025999999, + laser_id: 19, + rot_correction: 0.02391977928648433, + vert_correction: -0.07255814015150577, + vert_offset_correction: 0.21179958, + } + - { + dist_correction: 1.4823865, + dist_correction_x: 1.5357741999999999, + dist_correction_y: 1.4956403, + focal_distance: 24.0, + focal_slope: 1.1, + horiz_offset_correction: 0.025999999, + laser_id: 20, + rot_correction: 0.07264374331532833, + vert_correction: -0.031587736747464255, + vert_offset_correction: 0.20884519999999998, + } + - { + dist_correction: 1.5553201, + dist_correction_x: 1.5698593, + dist_correction_y: 1.5624425, + focal_distance: 15.5, + focal_slope: 1.55, + horiz_offset_correction: -0.025999999, + laser_id: 21, + rot_correction: 0.11143265968730214, + vert_correction: -0.025460288914769372, + vert_offset_correction: 0.20840424, + } + - { + dist_correction: 1.4437845999999999, + dist_correction_x: 1.4909378000000002, + dist_correction_y: 1.4347861, + focal_distance: 20.5, + focal_slope: 1.2, + horiz_offset_correction: 0.025999999, + laser_id: 22, + rot_correction: 0.05942554283989759, + vert_correction: -0.06665878416276627, + vert_offset_correction: 0.21137333000000003, + } + - { + dist_correction: 1.4939513, + dist_correction_x: 1.5194868, + dist_correction_y: 1.5106346, + focal_distance: 14.5, + focal_slope: 1.65, + horiz_offset_correction: -0.025999999, + laser_id: 23, + rot_correction: 0.09797042203986979, + vert_correction: -0.06055112836378901, + vert_offset_correction: 0.21093236999999998, + } + - { + dist_correction: 1.4521244999999998, + dist_correction_x: 1.4884882, + dist_correction_y: 1.4649333, + focal_distance: 11.5, + focal_slope: 2.0, + horiz_offset_correction: 0.025999999, + laser_id: 24, + rot_correction: -0.07658879305408597, + vert_correction: 0.015620435355027301, + vert_offset_correction: 0.20544985000000002, + } + - { + dist_correction: 1.5351622, + dist_correction_x: 1.524973, + dist_correction_y: 1.5029565, + focal_distance: 18.5, + focal_slope: 1.25, + horiz_offset_correction: -0.025999999, + laser_id: 25, + rot_correction: -0.0379098725675606, + vert_correction: 0.022567997346205196, + vert_offset_correction: 0.20495010000000002, + } + - { + dist_correction: 1.5321327, + dist_correction_x: 1.5833431999999998, + dist_correction_y: 1.5359726, + focal_distance: 13.0, + focal_slope: 1.9, + horiz_offset_correction: 0.025999999, + laser_id: 26, + rot_correction: -0.0904730670226138, + vert_correction: -0.019943931467746017, + vert_offset_correction: 0.20800737000000002, + } + - { + dist_correction: 1.5166023000000002, + dist_correction_x: 1.4874829, + dist_correction_y: 1.4625635, + focal_distance: 21.5, + focal_slope: 1.1, + horiz_offset_correction: -0.025999999, + laser_id: 27, + rot_correction: -0.051308328902808065, + vert_correction: -0.013200099491225388, + vert_offset_correction: 0.20752234000000003, + } + - { + dist_correction: 1.4549194, + dist_correction_x: 1.4688664, + dist_correction_y: 1.4194371000000001, + focal_distance: 13.5, + focal_slope: 1.83, + horiz_offset_correction: 0.025999999, + laser_id: 28, + rot_correction: -0.0019143155208309244, + vert_correction: 0.027266617424120905, + vert_offset_correction: 0.20461203000000003, + } + - { + dist_correction: 1.5617532, + dist_correction_x: 1.5887217999999999, + dist_correction_y: 1.5643922000000001, + focal_distance: 18.5, + focal_slope: 1.35, + horiz_offset_correction: -0.025999999, + laser_id: 29, + rot_correction: 0.03681404490741569, + vert_correction: 0.03421014630846329, + vert_offset_correction: 0.20411228, + } + - { + dist_correction: 1.5132924, + dist_correction_x: 1.5661812000000002, + dist_correction_y: 1.5102689, + focal_distance: 18.5, + focal_slope: 1.35, + horiz_offset_correction: 0.025999999, + laser_id: 30, + rot_correction: -0.015542064486559148, + vert_correction: -0.007885903531460533, + vert_offset_correction: 0.20714018, + } + - { + dist_correction: 1.5638524, + dist_correction_x: 1.5621136000000002, + dist_correction_y: 1.5383017, + focal_distance: 21.5, + focal_slope: 1.15, + horiz_offset_correction: -0.025999999, + laser_id: 31, + rot_correction: 0.023284423588222334, + vert_correction: -0.0015491891506552067, + vert_offset_correction: 0.20668451000000002, + } + - { + dist_correction: 1.3077792, + dist_correction_x: 1.3433452, + dist_correction_y: 1.2840973, + focal_distance: 10.5, + focal_slope: 2.0, + horiz_offset_correction: 0.025999999, + laser_id: 32, + rot_correction: -0.1278634161583795, + vert_correction: -0.39021216204755743, + vert_offset_correction: 0.15970787, + } + - { + dist_correction: 1.4303885, + dist_correction_x: 1.4429931999999999, + dist_correction_y: 1.4607234, + focal_distance: 0.25, + focal_slope: 1.0, + horiz_offset_correction: -0.025999999, + laser_id: 33, + rot_correction: -0.066528586091226, + vert_correction: -0.38355018793281753, + vert_offset_correction: 0.15922519, + } + - { + dist_correction: 1.3746819, + dist_correction_x: 1.3873923, + dist_correction_y: 1.4089924999999999, + focal_distance: 0.25, + focal_slope: 1.0, + horiz_offset_correction: 0.025999999, + laser_id: 34, + rot_correction: 0.08854290740283328, + vert_correction: -0.197138848550284, + vert_offset_correction: 0.14656122, + } + - { + dist_correction: 1.3814778, + dist_correction_x: 1.3932765, + dist_correction_y: 1.4301869, + focal_distance: 11.0, + focal_slope: 2.0, + horiz_offset_correction: -0.025999999, + laser_id: 35, + rot_correction: 0.14547956884148489, + vert_correction: -0.18768579625563228, + vert_offset_correction: 0.14595152, + } + - { + dist_correction: 1.4313307, + dist_correction_x: 1.4734517, + dist_correction_y: 1.4390849000000001, + focal_distance: 9.5, + focal_slope: 1.85, + horiz_offset_correction: 0.025999999, + laser_id: 36, + rot_correction: -0.005071588212420635, + vert_correction: -0.3750836655445631, + vert_offset_correction: 0.15861549, + } + - { + dist_correction: 1.3414835, + dist_correction_x: 1.3820609, + dist_correction_y: 1.355589, + focal_distance: 9.5, + focal_slope: 1.4, + horiz_offset_correction: -0.025999999, + laser_id: 37, + rot_correction: 0.05427589303135225, + vert_correction: -0.36762882325722723, + vert_offset_correction: 0.15808201, + } + - { + dist_correction: 1.4895827, + dist_correction_x: 1.5283238000000001, + dist_correction_y: 1.4803529, + focal_distance: 9.0, + focal_slope: 1.65, + horiz_offset_correction: 0.025999999, + laser_id: 38, + rot_correction: -0.028143856558087547, + vert_correction: -0.4285668719175616, + vert_offset_correction: 0.16254044, + } + - { + dist_correction: 1.3727733000000002, + dist_correction_x: 1.3623596, + dist_correction_y: 1.392661, + focal_distance: 0.25, + focal_slope: 1.15, + horiz_offset_correction: -0.025999999, + laser_id: 39, + rot_correction: 0.03172272051181349, + vert_correction: -0.4214410765541042, + vert_offset_correction: 0.16200695, + } + - { + dist_correction: 1.4348983999999998, + dist_correction_x: 1.4775407000000003, + dist_correction_y: 1.4712174999999998, + focal_distance: 0.25, + focal_slope: 0.92000002, + horiz_offset_correction: 0.025999999, + laser_id: 40, + rot_correction: 0.11411698480351568, + vert_correction: -0.3565455112681652, + vert_offset_correction: 0.15729448, + } + - { + dist_correction: 1.335618, + dist_correction_x: 1.3519691, + dist_correction_y: 1.3315152000000001, + focal_distance: 11.200000000000001, + focal_slope: 2.0, + horiz_offset_correction: -0.025999999, + laser_id: 41, + rot_correction: 0.1735498527902839, + vert_correction: -0.34717860842539194, + vert_offset_correction: 0.15663397, + } + - { + dist_correction: 1.4905824, + dist_correction_x: 1.488313, + dist_correction_y: 1.4948479000000001, + focal_distance: 0.25, + focal_slope: 1.1, + horiz_offset_correction: 0.025999999, + laser_id: 42, + rot_correction: 0.09564756333839054, + vert_correction: -0.4110102035460227, + vert_offset_correction: 0.16123213, + } + - { + dist_correction: 1.3288423, + dist_correction_x: 1.3409723, + dist_correction_y: 1.3440451, + focal_distance: 10.0, + focal_slope: 1.95, + horiz_offset_correction: -0.025999999, + laser_id: 43, + rot_correction: 0.15538288292189534, + vert_correction: -0.40083030888437793, + vert_offset_correction: 0.16048269, + } + - { + dist_correction: 1.3771290999999999, + dist_correction_x: 1.3773239000000002, + dist_correction_y: 1.3497290000000002, + focal_distance: 11.5, + focal_slope: 2.0, + horiz_offset_correction: 0.025999999, + laser_id: 44, + rot_correction: -0.12413605610123538, + vert_correction: -0.2840315837972709, + vert_offset_correction: 0.15228986, + } + - { + dist_correction: 1.3367807, + dist_correction_x: 1.370152, + dist_correction_y: 1.370934, + focal_distance: 0.25, + focal_slope: 0.44999999, + horiz_offset_correction: -0.025999999, + laser_id: 45, + rot_correction: -0.06413447432303407, + vert_correction: -0.27761533458791926, + vert_offset_correction: 0.15185799, + } + - { + dist_correction: 1.4788651, + dist_correction_x: 1.5014308, + dist_correction_y: 1.4727454, + focal_distance: 11.5, + focal_slope: 2.0, + horiz_offset_correction: 0.025999999, + laser_id: 46, + rot_correction: -0.14872602785785152, + vert_correction: -0.3359268721635124, + vert_offset_correction: 0.15584644, + } + - { + dist_correction: 1.3220766000000002, + dist_correction_x: 1.3654865, + dist_correction_y: 1.3739757000000001, + focal_distance: 0.25, + focal_slope: 0.94999999, + horiz_offset_correction: -0.025999999, + laser_id: 47, + rot_correction: -0.08707280959256145, + vert_correction: -0.33026751989087316, + vert_offset_correction: 0.15545268, + } + - { + dist_correction: 1.4612433999999999, + dist_correction_x: 1.5250436, + dist_correction_y: 1.4817635999999998, + focal_distance: 13.0, + focal_slope: 1.0, + horiz_offset_correction: 0.025999999, + laser_id: 48, + rot_correction: -0.006799911150716457, + vert_correction: -0.26851710773019805, + vert_offset_correction: 0.15124829, + } + - { + dist_correction: 1.3407353000000002, + dist_correction_x: 1.3478844, + dist_correction_y: 1.3154279, + focal_distance: 13.5, + focal_slope: 1.8, + horiz_offset_correction: -0.025999999, + laser_id: 49, + rot_correction: 0.05242808851765633, + vert_correction: -0.26051854302098837, + vert_offset_correction: 0.1507148, + } + - { + dist_correction: 1.3465115, + dist_correction_x: 1.3874431999999999, + dist_correction_y: 1.3508052000000002, + focal_distance: 12.0, + focal_slope: 1.85, + horiz_offset_correction: 0.025999999, + laser_id: 50, + rot_correction: -0.028383715411859876, + vert_correction: -0.3216451745070007, + vert_offset_correction: 0.15485568000000002, + } + - { + dist_correction: 1.3629696999999998, + dist_correction_x: 1.4037315000000001, + dist_correction_y: 1.3869237, + focal_distance: 12.0, + focal_slope: 1.1, + horiz_offset_correction: -0.025999999, + laser_id: 51, + rot_correction: 0.031843273893907245, + vert_correction: -0.3135280670349956, + vert_offset_correction: 0.15429679000000002, + } + - { + dist_correction: 1.4472754, + dist_correction_x: 1.4817390000000001, + dist_correction_y: 1.4782272, + focal_distance: 2.0, + focal_slope: 1.0, + horiz_offset_correction: 0.025999999, + laser_id: 52, + rot_correction: 0.10955275158734502, + vert_correction: -0.24941678290173272, + vert_offset_correction: 0.14997807999999999, + } + - { + dist_correction: 1.3800671, + dist_correction_x: 1.3796414, + dist_correction_y: 1.3943782, + focal_distance: 11.200000000000001, + focal_slope: 2.0, + horiz_offset_correction: -0.025999999, + laser_id: 53, + rot_correction: 0.16876716543828738, + vert_correction: -0.2409525119882134, + vert_offset_correction: 0.14941919, + } + - { + dist_correction: 1.5190169, + dist_correction_x: 1.5619051, + dist_correction_y: 1.5511705, + focal_distance: 2.5, + focal_slope: 1.05, + horiz_offset_correction: 0.025999999, + laser_id: 54, + rot_correction: 0.09037283276367176, + vert_correction: -0.30313513748485243, + vert_offset_correction: 0.15358547, + } + - { + dist_correction: 1.3803656000000002, + dist_correction_x: 1.3960698, + dist_correction_y: 1.386106, + focal_distance: 12.5, + focal_slope: 1.9, + horiz_offset_correction: -0.025999999, + laser_id: 55, + rot_correction: 0.14871534295217081, + vert_correction: -0.29323634555253386, + vert_offset_correction: 0.15291226, + } + - { + dist_correction: 1.5827696, + dist_correction_x: 1.6050609, + dist_correction_y: 1.5844797, + focal_distance: 10.0, + focal_slope: 1.95, + horiz_offset_correction: 0.025999999, + laser_id: 56, + rot_correction: -0.12100867217308608, + vert_correction: -0.17760463486977288, + vert_offset_correction: 0.14530372, + } + - { + dist_correction: 1.3843919, + dist_correction_x: 1.3915251000000002, + dist_correction_y: 1.4156927, + focal_distance: 0.25, + focal_slope: 0.94999999, + horiz_offset_correction: -0.025999999, + laser_id: 57, + rot_correction: -0.06431965899265843, + vert_correction: -0.17006926832673774, + vert_offset_correction: 0.14482104, + } + - { + dist_correction: 1.5491273, + dist_correction_x: 1.5298964000000002, + dist_correction_y: 1.5107637, + focal_distance: 11.5, + focal_slope: 2.0, + horiz_offset_correction: 0.025999999, + laser_id: 58, + rot_correction: -0.14486168214370612, + vert_correction: -0.22974121500510264, + vert_offset_correction: 0.14868247, + } + - { + dist_correction: 1.3646004, + dist_correction_x: 1.3803583000000001, + dist_correction_y: 1.4061511, + focal_distance: 0.25, + focal_slope: 1.0, + horiz_offset_correction: -0.025999999, + laser_id: 59, + rot_correction: -0.0852480451703211, + vert_correction: -0.22391891879349718, + vert_offset_correction: 0.14830141, + } + - { + dist_correction: 1.5239935, + dist_correction_x: 1.560786, + dist_correction_y: 1.5632524, + focal_distance: 5.0, + focal_slope: 1.15, + horiz_offset_correction: 0.025999999, + laser_id: 60, + rot_correction: -0.005967226432828876, + vert_correction: -0.16231529056824404, + vert_offset_correction: 0.14432566, + } + - { + dist_correction: 1.4112029000000001, + dist_correction_x: 1.4223886, + dist_correction_y: 1.4542918, + focal_distance: 2.5, + focal_slope: 1.05, + horiz_offset_correction: -0.025999999, + laser_id: 61, + rot_correction: 0.050600613599087636, + vert_correction: -0.15314424682880032, + vert_offset_correction: 0.14374136, + } + - { + dist_correction: 1.5013637, + dist_correction_x: 1.5208610999999999, + dist_correction_y: 1.5006433000000001, + focal_distance: 16.5, + focal_slope: 1.25, + horiz_offset_correction: 0.025999999, + laser_id: 62, + rot_correction: -0.027436902217920986, + vert_correction: -0.21457119711920336, + vert_offset_correction: 0.14769171, + } + - { + dist_correction: 1.4423058, + dist_correction_x: 1.4454633000000001, + dist_correction_y: 1.4321198000000002, + focal_distance: 9.0, + focal_slope: 1.45, + horiz_offset_correction: -0.025999999, + laser_id: 63, + rot_correction: 0.0290479702718764, + vert_correction: -0.2079266762969834, + vert_offset_correction: 0.14725984, } num_lasers: 64 distance_resolution: 0.002 diff --git a/nebula_decoders/calibration/velodyne/HDL64e_utexas.yaml b/nebula_decoders/calibration/velodyne/HDL64e_utexas.yaml index 6a6156031..3b474f225 100644 --- a/nebula_decoders/calibration/velodyne/HDL64e_utexas.yaml +++ b/nebula_decoders/calibration/velodyne/HDL64e_utexas.yaml @@ -1,900 +1,900 @@ # University of Texas HDL-64E calibration parameters lasers: - - { - dist_correction: 0.100000001490116, - dist_correction_x: 0, - dist_correction_y: 0, - focal_distance: 0, - focal_slope: 0, - laser_id: 0, - max_intensity: 255, - min_intensity: 0, - rot_correction: -0.0698131695389748, - two_pt_correction_available: false, - vert_correction: -0.124932751059532, - vert_offset_correction: 0, - } - - { - dist_correction: 0.280000001192093, - dist_correction_x: 0, - dist_correction_y: 0, - focal_distance: 0, - focal_slope: 0, - laser_id: 1, - max_intensity: 255, - min_intensity: 0, - rot_correction: -0.0392699092626572, - two_pt_correction_available: false, - vert_correction: -0.118993431329727, - vert_offset_correction: 0, - } - - { - dist_correction: 0.319999992847443, - dist_correction_x: 0, - dist_correction_y: 0, - focal_distance: 0, - focal_slope: 0, - laser_id: 2, - max_intensity: 255, - min_intensity: 0, - rot_correction: 0.0698131695389748, - two_pt_correction_available: false, - vert_correction: 0.0055470340885222, - vert_offset_correction: 0, - } - - { - dist_correction: 0.230000004172325, - dist_correction_x: 0, - dist_correction_y: 0, - focal_distance: 0, - focal_slope: 0, - laser_id: 3, - max_intensity: 255, - min_intensity: 0, - rot_correction: 0.104719758033752, - two_pt_correction_available: false, - vert_correction: 0.0114863449707627, - vert_offset_correction: 0, - } - - { - dist_correction: 0.0700000002980232, - dist_correction_x: 0, - dist_correction_y: 0, - focal_distance: 0, - focal_slope: 0, - laser_id: 4, - max_intensity: 255, - min_intensity: 0, - rot_correction: 0.013962633907795, - two_pt_correction_available: false, - vert_correction: -0.113056324422359, - vert_offset_correction: 0, - } - - { - dist_correction: 0.0900000035762787, - dist_correction_x: 0, - dist_correction_y: 0, - focal_distance: 0, - focal_slope: 0, - laser_id: 5, - max_intensity: 255, - min_intensity: 0, - rot_correction: 0.0392699092626572, - two_pt_correction_available: false, - vert_correction: -0.107121199369431, - vert_offset_correction: 0, - } - - { - dist_correction: 0.119999997317791, - dist_correction_x: 0, - dist_correction_y: 0, - focal_distance: 0, - focal_slope: 0, - laser_id: 6, - max_intensity: 255, - min_intensity: 0, - rot_correction: 0, - two_pt_correction_available: false, - vert_correction: -0.148716226220131, - vert_offset_correction: 0, - } - - { - dist_correction: 0.200000002980232, - dist_correction_x: 0, - dist_correction_y: 0, - focal_distance: 0, - focal_slope: 0, - laser_id: 7, - max_intensity: 255, - min_intensity: 0, - rot_correction: 0.0226892791688442, - two_pt_correction_available: false, - vert_correction: -0.142765983939171, - vert_offset_correction: 0, - } - - { - dist_correction: 0.129999995231628, - dist_correction_x: 0, - dist_correction_y: 0, - focal_distance: 0, - focal_slope: 0, - laser_id: 8, - max_intensity: 255, - min_intensity: 0, - rot_correction: 0.0820304751396179, - two_pt_correction_available: false, - vert_correction: -0.101187855005264, - vert_offset_correction: 0, - } - - { - dist_correction: 0.159999996423721, - dist_correction_x: 0, - dist_correction_y: 0, - focal_distance: 0, - focal_slope: 0, - laser_id: 9, - max_intensity: 255, - min_intensity: 0, - rot_correction: 0.113446399569511, - two_pt_correction_available: false, - vert_correction: -0.0952560678124428, - vert_offset_correction: 0, - } - - { - dist_correction: 0.159999996423721, - dist_correction_x: 0, - dist_correction_y: 0, - focal_distance: 0, - focal_slope: 0, - laser_id: 10, - max_intensity: 255, - min_intensity: 0, - rot_correction: 0.0698131695389748, - two_pt_correction_available: false, - vert_correction: -0.136818811297417, - vert_offset_correction: 0, - } - - { - dist_correction: 0.159999996423721, - dist_correction_x: 0, - dist_correction_y: 0, - focal_distance: 0, - focal_slope: 0, - laser_id: 11, - max_intensity: 255, - min_intensity: 0, - rot_correction: 0.104719758033752, - two_pt_correction_available: false, - vert_correction: -0.130874469876289, - vert_offset_correction: 0, - } - - { - dist_correction: 0.129999995231628, - dist_correction_x: 0, - dist_correction_y: 0, - focal_distance: 0, - focal_slope: 0, - laser_id: 12, - max_intensity: 255, - min_intensity: 0, - rot_correction: -0.068067841231823, - two_pt_correction_available: false, - vert_correction: -0.05375986546278, - vert_offset_correction: 0, - } - - { - dist_correction: 0.200000002980232, - dist_correction_x: 0, - dist_correction_y: 0, - focal_distance: 0, - focal_slope: 0, - laser_id: 13, - max_intensity: 255, - min_intensity: 0, - rot_correction: -0.0349065847694874, - two_pt_correction_available: false, - vert_correction: -0.0478330813348293, - vert_offset_correction: 0, - } - - { - dist_correction: 0.170000001788139, - dist_correction_x: 0, - dist_correction_y: 0, - focal_distance: 0, - focal_slope: 0, - laser_id: 14, - max_intensity: 255, - min_intensity: 0, - rot_correction: -0.0837758108973503, - two_pt_correction_available: false, - vert_correction: -0.0893256440758705, - vert_offset_correction: 0, - } - - { - dist_correction: 0.239999994635582, - dist_correction_x: 0, - dist_correction_y: 0, - focal_distance: 0, - focal_slope: 0, - laser_id: 15, - max_intensity: 255, - min_intensity: 0, - rot_correction: -0.0479965545237064, - two_pt_correction_available: false, - vert_correction: -0.0833963677287102, - vert_offset_correction: 0, - } - - { - dist_correction: 0.180000007152557, - dist_correction_x: 0, - dist_correction_y: 0, - focal_distance: 0, - focal_slope: 0, - laser_id: 16, - max_intensity: 255, - min_intensity: 0, - rot_correction: 0.00872664619237185, - two_pt_correction_available: false, - vert_correction: -0.0419059917330742, - vert_offset_correction: 0, - } - - { - dist_correction: 0.0599999986588955, - dist_correction_x: 0, - dist_correction_y: 0, - focal_distance: 0, - focal_slope: 0, - laser_id: 17, - max_intensity: 255, - min_intensity: 0, - rot_correction: 0.0392699092626572, - two_pt_correction_available: false, - vert_correction: -0.035978376865387, - vert_offset_correction: 0, - } - - { - dist_correction: 0.140000000596046, - dist_correction_x: 0, - dist_correction_y: 0, - focal_distance: 0, - focal_slope: 0, - laser_id: 18, - max_intensity: 255, - min_intensity: 0, - rot_correction: 0, - two_pt_correction_available: false, - vert_correction: -0.0774680152535439, - vert_offset_correction: 0, - } - - { - dist_correction: 0.150000005960464, - dist_correction_x: 0, - dist_correction_y: 0, - focal_distance: 0, - focal_slope: 0, - laser_id: 19, - max_intensity: 255, - min_intensity: 0, - rot_correction: 0.0305432621389627, - two_pt_correction_available: false, - vert_correction: -0.0715404152870178, - vert_offset_correction: 0, - } - - { - dist_correction: 0.219999998807907, - dist_correction_x: 0, - dist_correction_y: 0, - focal_distance: 0, - focal_slope: 0, - laser_id: 20, - max_intensity: 255, - min_intensity: 0, - rot_correction: 0.0855211317539215, - two_pt_correction_available: false, - vert_correction: -0.0300500374287367, - vert_offset_correction: 0, - } - - { - dist_correction: 0.140000000596046, - dist_correction_x: 0, - dist_correction_y: 0, - focal_distance: 0, - focal_slope: 0, - laser_id: 21, - max_intensity: 255, - min_intensity: 0, - rot_correction: 0.109083078801632, - two_pt_correction_available: false, - vert_correction: -0.024120757356286, - vert_offset_correction: 0, - } - - { - dist_correction: 0.0799999982118607, - dist_correction_x: 0, - dist_correction_y: 0, - focal_distance: 0, - focal_slope: 0, - laser_id: 22, - max_intensity: 255, - min_intensity: 0, - rot_correction: 0.0698131695389748, - two_pt_correction_available: false, - vert_correction: -0.0656133219599724, - vert_offset_correction: 0, - } - - { - dist_correction: 0.159999996423721, - dist_correction_x: 0, - dist_correction_y: 0, - focal_distance: 0, - focal_slope: 0, - laser_id: 23, - max_intensity: 255, - min_intensity: 0, - rot_correction: 0.104719758033752, - two_pt_correction_available: false, - vert_correction: -0.0596865378320217, - vert_offset_correction: 0, - } - - { - dist_correction: 0.119999997317791, - dist_correction_x: 0, - dist_correction_y: 0, - focal_distance: 0, - focal_slope: 0, - laser_id: 24, - max_intensity: 255, - min_intensity: 0, - rot_correction: -0.0610865242779255, - two_pt_correction_available: false, - vert_correction: 0.0174280721694231, - vert_offset_correction: 0, - } - - { - dist_correction: 0.219999998807907, - dist_correction_x: 0, - dist_correction_y: 0, - focal_distance: 0, - focal_slope: 0, - laser_id: 25, - max_intensity: 255, - min_intensity: 0, - rot_correction: -0.0349065847694874, - two_pt_correction_available: false, - vert_correction: 0.0233724191784859, - vert_offset_correction: 0, - } - - { - dist_correction: 0.159999996423721, - dist_correction_x: 0, - dist_correction_y: 0, - focal_distance: 0, - focal_slope: 0, - laser_id: 26, - max_intensity: 255, - min_intensity: 0, - rot_correction: -0.0785398185253143, - two_pt_correction_available: false, - vert_correction: -0.0181903336197138, - vert_offset_correction: 0, - } - - { - dist_correction: 0.259999990463257, - dist_correction_x: 0, - dist_correction_y: 0, - focal_distance: 0, - focal_slope: 0, - laser_id: 27, - max_intensity: 255, - min_intensity: 0, - rot_correction: -0.0471238903701305, - two_pt_correction_available: false, - vert_correction: -0.0122585473582149, - vert_offset_correction: 0, - } - - { - dist_correction: 0.140000000596046, - dist_correction_x: 0, - dist_correction_y: 0, - focal_distance: 0, - focal_slope: 0, - laser_id: 28, - max_intensity: 255, - min_intensity: 0, - rot_correction: 0.0104719763621688, - two_pt_correction_available: false, - vert_correction: 0.0293195936828852, - vert_offset_correction: 0, - } - - { - dist_correction: 0.219999998807907, - dist_correction_x: 0, - dist_correction_y: 0, - focal_distance: 0, - focal_slope: 0, - laser_id: 29, - max_intensity: 255, - min_intensity: 0, - rot_correction: 0.0349065847694874, - two_pt_correction_available: false, - vert_correction: 0.0352698266506195, - vert_offset_correction: 0, - } - - { - dist_correction: 0.209999993443489, - dist_correction_x: 0, - dist_correction_y: 0, - focal_distance: 0, - focal_slope: 0, - laser_id: 30, - max_intensity: 255, - min_intensity: 0, - rot_correction: -0.00436332309618592, - two_pt_correction_available: false, - vert_correction: -0.00632520206272602, - vert_offset_correction: 0, - } - - { - dist_correction: 0.140000000596046, - dist_correction_x: 0, - dist_correction_y: 0, - focal_distance: 0, - focal_slope: 0, - laser_id: 31, - max_intensity: 255, - min_intensity: 0, - rot_correction: 0.0296705979853868, - two_pt_correction_available: false, - vert_correction: -0.000390077300835401, - vert_offset_correction: 0, - } - - { - dist_correction: 0.119999997317791, - dist_correction_x: 0, - dist_correction_y: 0, - focal_distance: 0, - focal_slope: 0, - laser_id: 32, - max_intensity: 255, - min_intensity: 0, - rot_correction: -0.122173048555851, - two_pt_correction_available: false, - vert_correction: -0.396850973367691, - vert_offset_correction: 0, - } - - { - dist_correction: 0.0199999995529652, - dist_correction_x: 0, - dist_correction_y: 0, - focal_distance: 0, - focal_slope: 0, - laser_id: 33, - max_intensity: 255, - min_intensity: 0, - rot_correction: -0.0610865242779255, - two_pt_correction_available: false, - vert_correction: -0.387918144464493, - vert_offset_correction: 0, - } - - { - dist_correction: 0.100000001490116, - dist_correction_x: 0, - dist_correction_y: 0, - focal_distance: 0, - focal_slope: 0, - laser_id: 34, - max_intensity: 255, - min_intensity: 0, - rot_correction: 0.0959931090474129, - two_pt_correction_available: false, - vert_correction: -0.200955957174301, - vert_offset_correction: 0, - } - - { - dist_correction: 0.230000004172325, - dist_correction_x: 0, - dist_correction_y: 0, - focal_distance: 0, - focal_slope: 0, - laser_id: 35, - max_intensity: 255, - min_intensity: 0, - rot_correction: 0.148352980613708, - two_pt_correction_available: false, - vert_correction: -0.192023113369942, - vert_offset_correction: 0, - } - - { - dist_correction: 0.170000001788139, - dist_correction_x: 0, - dist_correction_y: 0, - focal_distance: 0, - focal_slope: 0, - laser_id: 36, - max_intensity: 255, - min_intensity: 0, - rot_correction: -0.00872664619237185, - two_pt_correction_available: false, - vert_correction: -0.378992766141891, - vert_offset_correction: 0, - } - - { - dist_correction: 0.150000005960464, - dist_correction_x: 0, - dist_correction_y: 0, - focal_distance: 0, - focal_slope: 0, - laser_id: 37, - max_intensity: 255, - min_intensity: 0, - rot_correction: 0.0610865242779255, - two_pt_correction_available: false, - vert_correction: -0.370074152946472, - vert_offset_correction: 0, - } - - { - dist_correction: 0.0500000007450581, - dist_correction_x: 0, - dist_correction_y: 0, - focal_distance: 0, - focal_slope: 0, - laser_id: 38, - max_intensity: 255, - min_intensity: 0, - rot_correction: -0.0174532923847437, - two_pt_correction_available: false, - vert_correction: -0.43128889799118, - vert_offset_correction: 0, - } - - { - dist_correction: 0.270000010728836, - dist_correction_x: 0, - dist_correction_y: 0, - focal_distance: 0, - focal_slope: 0, - laser_id: 39, - max_intensity: 255, - min_intensity: 0, - rot_correction: 0.0349065847694874, - two_pt_correction_available: false, - vert_correction: -0.423701733350754, - vert_offset_correction: 0, - } - - { - dist_correction: 0.180000007152557, - dist_correction_x: 0, - dist_correction_y: 0, - focal_distance: 0, - focal_slope: 0, - laser_id: 40, - max_intensity: 255, - min_intensity: 0, - rot_correction: 0.122173048555851, - two_pt_correction_available: false, - vert_correction: -0.361161530017853, - vert_offset_correction: 0, - } - - { - dist_correction: 0.189999997615814, - dist_correction_x: 0, - dist_correction_y: 0, - focal_distance: 0, - focal_slope: 0, - laser_id: 41, - max_intensity: 255, - min_intensity: 0, - rot_correction: 0.174532920122147, - two_pt_correction_available: false, - vert_correction: -0.352254241704941, - vert_offset_correction: 0, - } - - { - dist_correction: 0.100000001490116, - dist_correction_x: 0, - dist_correction_y: 0, - focal_distance: 0, - focal_slope: 0, - laser_id: 42, - max_intensity: 255, - min_intensity: 0, - rot_correction: 0.104719758033752, - two_pt_correction_available: false, - vert_correction: -0.414742022752762, - vert_offset_correction: 0, - } - - { - dist_correction: 0.200000002980232, - dist_correction_x: 0, - dist_correction_y: 0, - focal_distance: 0, - focal_slope: 0, - laser_id: 43, - max_intensity: 255, - min_intensity: 0, - rot_correction: 0.165806278586388, - two_pt_correction_available: false, - vert_correction: -0.405792057514191, - vert_offset_correction: 0, - } - - { - dist_correction: 0.219999998807907, - dist_correction_x: 0, - dist_correction_y: 0, - focal_distance: 0, - focal_slope: 0, - laser_id: 44, - max_intensity: 255, - min_intensity: 0, - rot_correction: -0.113446399569511, - two_pt_correction_available: false, - vert_correction: -0.28999200463295, - vert_offset_correction: 0, - } - - { - dist_correction: 0.200000002980232, - dist_correction_x: 0, - dist_correction_y: 0, - focal_distance: 0, - focal_slope: 0, - laser_id: 45, - max_intensity: 255, - min_intensity: 0, - rot_correction: -0.0567231997847557, - two_pt_correction_available: false, - vert_correction: -0.281101644039154, - vert_offset_correction: 0, - } - - { - dist_correction: 0.150000005960464, - dist_correction_x: 0, - dist_correction_y: 0, - focal_distance: 0, - focal_slope: 0, - laser_id: 46, - max_intensity: 255, - min_intensity: 0, - rot_correction: -0.13962633907795, - two_pt_correction_available: false, - vert_correction: -0.343351542949677, - vert_offset_correction: 0, - } - - { - dist_correction: 0.219999998807907, - dist_correction_x: 0, - dist_correction_y: 0, - focal_distance: 0, - focal_slope: 0, - laser_id: 47, - max_intensity: 255, - min_intensity: 0, - rot_correction: -0.0872664600610733, - two_pt_correction_available: false, - vert_correction: -0.334452718496323, - vert_offset_correction: 0, - } - - { - dist_correction: 0.0599999986588955, - dist_correction_x: 0, - dist_correction_y: 0, - focal_distance: 0, - focal_slope: 0, - laser_id: 48, - max_intensity: 255, - min_intensity: 0, - rot_correction: 0, - two_pt_correction_available: false, - vert_correction: -0.272210210561752, - vert_offset_correction: 0, - } - - { - dist_correction: 0.129999995231628, - dist_correction_x: 0, - dist_correction_y: 0, - focal_distance: 0, - focal_slope: 0, - laser_id: 49, - max_intensity: 255, - min_intensity: 0, - rot_correction: 0.0558505356311798, - two_pt_correction_available: false, - vert_correction: -0.26331701874733, - vert_offset_correction: 0, - } - - { - dist_correction: 0.00999999977648258, - dist_correction_x: 0, - dist_correction_y: 0, - focal_distance: 0, - focal_slope: 0, - laser_id: 50, - max_intensity: 255, - min_intensity: 0, - rot_correction: -0.0174532923847437, - two_pt_correction_available: false, - vert_correction: -0.323895305395126, - vert_offset_correction: 0, - } - - { - dist_correction: 0.150000005960464, - dist_correction_x: 0, - dist_correction_y: 0, - focal_distance: 0, - focal_slope: 0, - laser_id: 51, - max_intensity: 255, - min_intensity: 0, - rot_correction: 0.0349065847694874, - two_pt_correction_available: false, - vert_correction: -0.316663861274719, - vert_offset_correction: 0, - } - - { - dist_correction: 0.200000002980232, - dist_correction_x: 0, - dist_correction_y: 0, - focal_distance: 0, - focal_slope: 0, - laser_id: 52, - max_intensity: 255, - min_intensity: 0, - rot_correction: 0.122173048555851, - two_pt_correction_available: false, - vert_correction: -0.254421383142471, - vert_offset_correction: 0, - } - - { - dist_correction: 0.239999994635582, - dist_correction_x: 0, - dist_correction_y: 0, - focal_distance: 0, - focal_slope: 0, - laser_id: 53, - max_intensity: 255, - min_intensity: 0, - rot_correction: 0.165806278586388, - two_pt_correction_available: false, - vert_correction: -0.245522528886795, - vert_offset_correction: 0, - } - - { - dist_correction: 0.180000007152557, - dist_correction_x: 0, - dist_correction_y: 0, - focal_distance: 0, - focal_slope: 0, - laser_id: 54, - max_intensity: 255, - min_intensity: 0, - rot_correction: 0.104719758033752, - two_pt_correction_available: false, - vert_correction: -0.307772427797318, - vert_offset_correction: 0, - } - - { - dist_correction: 0.219999998807907, - dist_correction_x: 0, - dist_correction_y: 0, - focal_distance: 0, - focal_slope: 0, - laser_id: 55, - max_intensity: 255, - min_intensity: 0, - rot_correction: 0.157079637050629, - two_pt_correction_available: false, - vert_correction: -0.298882067203522, - vert_offset_correction: 0, - } - - { - dist_correction: 0.140000000596046, - dist_correction_x: 0, - dist_correction_y: 0, - focal_distance: 0, - focal_slope: 0, - laser_id: 56, - max_intensity: 255, - min_intensity: 0, - rot_correction: -0.104719758033752, - two_pt_correction_available: false, - vert_correction: -0.183082059025764, - vert_offset_correction: 0, - } - - { - dist_correction: 0.319999992847443, - dist_correction_x: 0, - dist_correction_y: 0, - focal_distance: 0, - focal_slope: 0, - laser_id: 57, - max_intensity: 255, - min_intensity: 0, - rot_correction: -0.0610865242779255, - two_pt_correction_available: false, - vert_correction: -0.17413204908371, - vert_offset_correction: 0, - } - - { - dist_correction: 0.200000002980232, - dist_correction_x: 0, - dist_correction_y: 0, - focal_distance: 0, - focal_slope: 0, - laser_id: 58, - max_intensity: 255, - min_intensity: 0, - rot_correction: -0.13962633907795, - two_pt_correction_available: false, - vert_correction: -0.236619830131531, - vert_offset_correction: 0, - } - - { - dist_correction: 0.25, - dist_correction_x: 0, - dist_correction_y: 0, - focal_distance: 0, - focal_slope: 0, - laser_id: 59, - max_intensity: 255, - min_intensity: 0, - rot_correction: -0.0785398185253143, - two_pt_correction_available: false, - vert_correction: -0.22771255671978, - vert_offset_correction: 0, - } - - { - dist_correction: 0.170000001788139, - dist_correction_x: 0, - dist_correction_y: 0, - focal_distance: 0, - focal_slope: 0, - laser_id: 60, - max_intensity: 255, - min_intensity: 0, - rot_correction: 0, - two_pt_correction_available: false, - vert_correction: -0.16517236828804, - vert_offset_correction: 0, - } - - { - dist_correction: 0.230000004172325, - dist_correction_x: 0, - dist_correction_y: 0, - focal_distance: 0, - focal_slope: 0, - laser_id: 61, - max_intensity: 255, - min_intensity: 0, - rot_correction: 0.0436332300305367, - two_pt_correction_available: false, - vert_correction: -0.156202226877213, - vert_offset_correction: 0, - } - - { - dist_correction: 0.150000005960464, - dist_correction_x: 0, - dist_correction_y: 0, - focal_distance: 0, - focal_slope: 0, - laser_id: 62, - max_intensity: 255, - min_intensity: 0, - rot_correction: -0.0174532923847437, - two_pt_correction_available: false, - vert_correction: -0.218799933791161, - vert_offset_correction: 0, - } - - { - dist_correction: 0.230000004172325, - dist_correction_x: 0, - dist_correction_y: 0, - focal_distance: 0, - focal_slope: 0, - laser_id: 63, - max_intensity: 255, - min_intensity: 0, - rot_correction: 0.0314159244298935, - two_pt_correction_available: false, - vert_correction: -0.209881335496902, - vert_offset_correction: 0, + - { + dist_correction: 0.100000001490116, + dist_correction_x: 0, + dist_correction_y: 0, + focal_distance: 0, + focal_slope: 0, + laser_id: 0, + max_intensity: 255, + min_intensity: 0, + rot_correction: -0.0698131695389748, + two_pt_correction_available: false, + vert_correction: -0.124932751059532, + vert_offset_correction: 0, + } + - { + dist_correction: 0.280000001192093, + dist_correction_x: 0, + dist_correction_y: 0, + focal_distance: 0, + focal_slope: 0, + laser_id: 1, + max_intensity: 255, + min_intensity: 0, + rot_correction: -0.0392699092626572, + two_pt_correction_available: false, + vert_correction: -0.118993431329727, + vert_offset_correction: 0, + } + - { + dist_correction: 0.319999992847443, + dist_correction_x: 0, + dist_correction_y: 0, + focal_distance: 0, + focal_slope: 0, + laser_id: 2, + max_intensity: 255, + min_intensity: 0, + rot_correction: 0.0698131695389748, + two_pt_correction_available: false, + vert_correction: 0.0055470340885222, + vert_offset_correction: 0, + } + - { + dist_correction: 0.230000004172325, + dist_correction_x: 0, + dist_correction_y: 0, + focal_distance: 0, + focal_slope: 0, + laser_id: 3, + max_intensity: 255, + min_intensity: 0, + rot_correction: 0.104719758033752, + two_pt_correction_available: false, + vert_correction: 0.0114863449707627, + vert_offset_correction: 0, + } + - { + dist_correction: 0.0700000002980232, + dist_correction_x: 0, + dist_correction_y: 0, + focal_distance: 0, + focal_slope: 0, + laser_id: 4, + max_intensity: 255, + min_intensity: 0, + rot_correction: 0.013962633907795, + two_pt_correction_available: false, + vert_correction: -0.113056324422359, + vert_offset_correction: 0, + } + - { + dist_correction: 0.0900000035762787, + dist_correction_x: 0, + dist_correction_y: 0, + focal_distance: 0, + focal_slope: 0, + laser_id: 5, + max_intensity: 255, + min_intensity: 0, + rot_correction: 0.0392699092626572, + two_pt_correction_available: false, + vert_correction: -0.107121199369431, + vert_offset_correction: 0, + } + - { + dist_correction: 0.119999997317791, + dist_correction_x: 0, + dist_correction_y: 0, + focal_distance: 0, + focal_slope: 0, + laser_id: 6, + max_intensity: 255, + min_intensity: 0, + rot_correction: 0, + two_pt_correction_available: false, + vert_correction: -0.148716226220131, + vert_offset_correction: 0, + } + - { + dist_correction: 0.200000002980232, + dist_correction_x: 0, + dist_correction_y: 0, + focal_distance: 0, + focal_slope: 0, + laser_id: 7, + max_intensity: 255, + min_intensity: 0, + rot_correction: 0.0226892791688442, + two_pt_correction_available: false, + vert_correction: -0.142765983939171, + vert_offset_correction: 0, + } + - { + dist_correction: 0.129999995231628, + dist_correction_x: 0, + dist_correction_y: 0, + focal_distance: 0, + focal_slope: 0, + laser_id: 8, + max_intensity: 255, + min_intensity: 0, + rot_correction: 0.0820304751396179, + two_pt_correction_available: false, + vert_correction: -0.101187855005264, + vert_offset_correction: 0, + } + - { + dist_correction: 0.159999996423721, + dist_correction_x: 0, + dist_correction_y: 0, + focal_distance: 0, + focal_slope: 0, + laser_id: 9, + max_intensity: 255, + min_intensity: 0, + rot_correction: 0.113446399569511, + two_pt_correction_available: false, + vert_correction: -0.0952560678124428, + vert_offset_correction: 0, + } + - { + dist_correction: 0.159999996423721, + dist_correction_x: 0, + dist_correction_y: 0, + focal_distance: 0, + focal_slope: 0, + laser_id: 10, + max_intensity: 255, + min_intensity: 0, + rot_correction: 0.0698131695389748, + two_pt_correction_available: false, + vert_correction: -0.136818811297417, + vert_offset_correction: 0, + } + - { + dist_correction: 0.159999996423721, + dist_correction_x: 0, + dist_correction_y: 0, + focal_distance: 0, + focal_slope: 0, + laser_id: 11, + max_intensity: 255, + min_intensity: 0, + rot_correction: 0.104719758033752, + two_pt_correction_available: false, + vert_correction: -0.130874469876289, + vert_offset_correction: 0, + } + - { + dist_correction: 0.129999995231628, + dist_correction_x: 0, + dist_correction_y: 0, + focal_distance: 0, + focal_slope: 0, + laser_id: 12, + max_intensity: 255, + min_intensity: 0, + rot_correction: -0.068067841231823, + two_pt_correction_available: false, + vert_correction: -0.05375986546278, + vert_offset_correction: 0, + } + - { + dist_correction: 0.200000002980232, + dist_correction_x: 0, + dist_correction_y: 0, + focal_distance: 0, + focal_slope: 0, + laser_id: 13, + max_intensity: 255, + min_intensity: 0, + rot_correction: -0.0349065847694874, + two_pt_correction_available: false, + vert_correction: -0.0478330813348293, + vert_offset_correction: 0, + } + - { + dist_correction: 0.170000001788139, + dist_correction_x: 0, + dist_correction_y: 0, + focal_distance: 0, + focal_slope: 0, + laser_id: 14, + max_intensity: 255, + min_intensity: 0, + rot_correction: -0.0837758108973503, + two_pt_correction_available: false, + vert_correction: -0.0893256440758705, + vert_offset_correction: 0, + } + - { + dist_correction: 0.239999994635582, + dist_correction_x: 0, + dist_correction_y: 0, + focal_distance: 0, + focal_slope: 0, + laser_id: 15, + max_intensity: 255, + min_intensity: 0, + rot_correction: -0.0479965545237064, + two_pt_correction_available: false, + vert_correction: -0.0833963677287102, + vert_offset_correction: 0, + } + - { + dist_correction: 0.180000007152557, + dist_correction_x: 0, + dist_correction_y: 0, + focal_distance: 0, + focal_slope: 0, + laser_id: 16, + max_intensity: 255, + min_intensity: 0, + rot_correction: 0.00872664619237185, + two_pt_correction_available: false, + vert_correction: -0.0419059917330742, + vert_offset_correction: 0, + } + - { + dist_correction: 0.0599999986588955, + dist_correction_x: 0, + dist_correction_y: 0, + focal_distance: 0, + focal_slope: 0, + laser_id: 17, + max_intensity: 255, + min_intensity: 0, + rot_correction: 0.0392699092626572, + two_pt_correction_available: false, + vert_correction: -0.035978376865387, + vert_offset_correction: 0, + } + - { + dist_correction: 0.140000000596046, + dist_correction_x: 0, + dist_correction_y: 0, + focal_distance: 0, + focal_slope: 0, + laser_id: 18, + max_intensity: 255, + min_intensity: 0, + rot_correction: 0, + two_pt_correction_available: false, + vert_correction: -0.0774680152535439, + vert_offset_correction: 0, + } + - { + dist_correction: 0.150000005960464, + dist_correction_x: 0, + dist_correction_y: 0, + focal_distance: 0, + focal_slope: 0, + laser_id: 19, + max_intensity: 255, + min_intensity: 0, + rot_correction: 0.0305432621389627, + two_pt_correction_available: false, + vert_correction: -0.0715404152870178, + vert_offset_correction: 0, + } + - { + dist_correction: 0.219999998807907, + dist_correction_x: 0, + dist_correction_y: 0, + focal_distance: 0, + focal_slope: 0, + laser_id: 20, + max_intensity: 255, + min_intensity: 0, + rot_correction: 0.0855211317539215, + two_pt_correction_available: false, + vert_correction: -0.0300500374287367, + vert_offset_correction: 0, + } + - { + dist_correction: 0.140000000596046, + dist_correction_x: 0, + dist_correction_y: 0, + focal_distance: 0, + focal_slope: 0, + laser_id: 21, + max_intensity: 255, + min_intensity: 0, + rot_correction: 0.109083078801632, + two_pt_correction_available: false, + vert_correction: -0.024120757356286, + vert_offset_correction: 0, + } + - { + dist_correction: 0.0799999982118607, + dist_correction_x: 0, + dist_correction_y: 0, + focal_distance: 0, + focal_slope: 0, + laser_id: 22, + max_intensity: 255, + min_intensity: 0, + rot_correction: 0.0698131695389748, + two_pt_correction_available: false, + vert_correction: -0.0656133219599724, + vert_offset_correction: 0, + } + - { + dist_correction: 0.159999996423721, + dist_correction_x: 0, + dist_correction_y: 0, + focal_distance: 0, + focal_slope: 0, + laser_id: 23, + max_intensity: 255, + min_intensity: 0, + rot_correction: 0.104719758033752, + two_pt_correction_available: false, + vert_correction: -0.0596865378320217, + vert_offset_correction: 0, + } + - { + dist_correction: 0.119999997317791, + dist_correction_x: 0, + dist_correction_y: 0, + focal_distance: 0, + focal_slope: 0, + laser_id: 24, + max_intensity: 255, + min_intensity: 0, + rot_correction: -0.0610865242779255, + two_pt_correction_available: false, + vert_correction: 0.0174280721694231, + vert_offset_correction: 0, + } + - { + dist_correction: 0.219999998807907, + dist_correction_x: 0, + dist_correction_y: 0, + focal_distance: 0, + focal_slope: 0, + laser_id: 25, + max_intensity: 255, + min_intensity: 0, + rot_correction: -0.0349065847694874, + two_pt_correction_available: false, + vert_correction: 0.0233724191784859, + vert_offset_correction: 0, + } + - { + dist_correction: 0.159999996423721, + dist_correction_x: 0, + dist_correction_y: 0, + focal_distance: 0, + focal_slope: 0, + laser_id: 26, + max_intensity: 255, + min_intensity: 0, + rot_correction: -0.0785398185253143, + two_pt_correction_available: false, + vert_correction: -0.0181903336197138, + vert_offset_correction: 0, + } + - { + dist_correction: 0.259999990463257, + dist_correction_x: 0, + dist_correction_y: 0, + focal_distance: 0, + focal_slope: 0, + laser_id: 27, + max_intensity: 255, + min_intensity: 0, + rot_correction: -0.0471238903701305, + two_pt_correction_available: false, + vert_correction: -0.0122585473582149, + vert_offset_correction: 0, + } + - { + dist_correction: 0.140000000596046, + dist_correction_x: 0, + dist_correction_y: 0, + focal_distance: 0, + focal_slope: 0, + laser_id: 28, + max_intensity: 255, + min_intensity: 0, + rot_correction: 0.0104719763621688, + two_pt_correction_available: false, + vert_correction: 0.0293195936828852, + vert_offset_correction: 0, + } + - { + dist_correction: 0.219999998807907, + dist_correction_x: 0, + dist_correction_y: 0, + focal_distance: 0, + focal_slope: 0, + laser_id: 29, + max_intensity: 255, + min_intensity: 0, + rot_correction: 0.0349065847694874, + two_pt_correction_available: false, + vert_correction: 0.0352698266506195, + vert_offset_correction: 0, + } + - { + dist_correction: 0.209999993443489, + dist_correction_x: 0, + dist_correction_y: 0, + focal_distance: 0, + focal_slope: 0, + laser_id: 30, + max_intensity: 255, + min_intensity: 0, + rot_correction: -0.00436332309618592, + two_pt_correction_available: false, + vert_correction: -0.00632520206272602, + vert_offset_correction: 0, + } + - { + dist_correction: 0.140000000596046, + dist_correction_x: 0, + dist_correction_y: 0, + focal_distance: 0, + focal_slope: 0, + laser_id: 31, + max_intensity: 255, + min_intensity: 0, + rot_correction: 0.0296705979853868, + two_pt_correction_available: false, + vert_correction: -0.000390077300835401, + vert_offset_correction: 0, + } + - { + dist_correction: 0.119999997317791, + dist_correction_x: 0, + dist_correction_y: 0, + focal_distance: 0, + focal_slope: 0, + laser_id: 32, + max_intensity: 255, + min_intensity: 0, + rot_correction: -0.122173048555851, + two_pt_correction_available: false, + vert_correction: -0.396850973367691, + vert_offset_correction: 0, + } + - { + dist_correction: 0.0199999995529652, + dist_correction_x: 0, + dist_correction_y: 0, + focal_distance: 0, + focal_slope: 0, + laser_id: 33, + max_intensity: 255, + min_intensity: 0, + rot_correction: -0.0610865242779255, + two_pt_correction_available: false, + vert_correction: -0.387918144464493, + vert_offset_correction: 0, + } + - { + dist_correction: 0.100000001490116, + dist_correction_x: 0, + dist_correction_y: 0, + focal_distance: 0, + focal_slope: 0, + laser_id: 34, + max_intensity: 255, + min_intensity: 0, + rot_correction: 0.0959931090474129, + two_pt_correction_available: false, + vert_correction: -0.200955957174301, + vert_offset_correction: 0, + } + - { + dist_correction: 0.230000004172325, + dist_correction_x: 0, + dist_correction_y: 0, + focal_distance: 0, + focal_slope: 0, + laser_id: 35, + max_intensity: 255, + min_intensity: 0, + rot_correction: 0.148352980613708, + two_pt_correction_available: false, + vert_correction: -0.192023113369942, + vert_offset_correction: 0, + } + - { + dist_correction: 0.170000001788139, + dist_correction_x: 0, + dist_correction_y: 0, + focal_distance: 0, + focal_slope: 0, + laser_id: 36, + max_intensity: 255, + min_intensity: 0, + rot_correction: -0.00872664619237185, + two_pt_correction_available: false, + vert_correction: -0.378992766141891, + vert_offset_correction: 0, + } + - { + dist_correction: 0.150000005960464, + dist_correction_x: 0, + dist_correction_y: 0, + focal_distance: 0, + focal_slope: 0, + laser_id: 37, + max_intensity: 255, + min_intensity: 0, + rot_correction: 0.0610865242779255, + two_pt_correction_available: false, + vert_correction: -0.370074152946472, + vert_offset_correction: 0, + } + - { + dist_correction: 0.0500000007450581, + dist_correction_x: 0, + dist_correction_y: 0, + focal_distance: 0, + focal_slope: 0, + laser_id: 38, + max_intensity: 255, + min_intensity: 0, + rot_correction: -0.0174532923847437, + two_pt_correction_available: false, + vert_correction: -0.43128889799118, + vert_offset_correction: 0, + } + - { + dist_correction: 0.270000010728836, + dist_correction_x: 0, + dist_correction_y: 0, + focal_distance: 0, + focal_slope: 0, + laser_id: 39, + max_intensity: 255, + min_intensity: 0, + rot_correction: 0.0349065847694874, + two_pt_correction_available: false, + vert_correction: -0.423701733350754, + vert_offset_correction: 0, + } + - { + dist_correction: 0.180000007152557, + dist_correction_x: 0, + dist_correction_y: 0, + focal_distance: 0, + focal_slope: 0, + laser_id: 40, + max_intensity: 255, + min_intensity: 0, + rot_correction: 0.122173048555851, + two_pt_correction_available: false, + vert_correction: -0.361161530017853, + vert_offset_correction: 0, + } + - { + dist_correction: 0.189999997615814, + dist_correction_x: 0, + dist_correction_y: 0, + focal_distance: 0, + focal_slope: 0, + laser_id: 41, + max_intensity: 255, + min_intensity: 0, + rot_correction: 0.174532920122147, + two_pt_correction_available: false, + vert_correction: -0.352254241704941, + vert_offset_correction: 0, + } + - { + dist_correction: 0.100000001490116, + dist_correction_x: 0, + dist_correction_y: 0, + focal_distance: 0, + focal_slope: 0, + laser_id: 42, + max_intensity: 255, + min_intensity: 0, + rot_correction: 0.104719758033752, + two_pt_correction_available: false, + vert_correction: -0.414742022752762, + vert_offset_correction: 0, + } + - { + dist_correction: 0.200000002980232, + dist_correction_x: 0, + dist_correction_y: 0, + focal_distance: 0, + focal_slope: 0, + laser_id: 43, + max_intensity: 255, + min_intensity: 0, + rot_correction: 0.165806278586388, + two_pt_correction_available: false, + vert_correction: -0.405792057514191, + vert_offset_correction: 0, + } + - { + dist_correction: 0.219999998807907, + dist_correction_x: 0, + dist_correction_y: 0, + focal_distance: 0, + focal_slope: 0, + laser_id: 44, + max_intensity: 255, + min_intensity: 0, + rot_correction: -0.113446399569511, + two_pt_correction_available: false, + vert_correction: -0.28999200463295, + vert_offset_correction: 0, + } + - { + dist_correction: 0.200000002980232, + dist_correction_x: 0, + dist_correction_y: 0, + focal_distance: 0, + focal_slope: 0, + laser_id: 45, + max_intensity: 255, + min_intensity: 0, + rot_correction: -0.0567231997847557, + two_pt_correction_available: false, + vert_correction: -0.281101644039154, + vert_offset_correction: 0, + } + - { + dist_correction: 0.150000005960464, + dist_correction_x: 0, + dist_correction_y: 0, + focal_distance: 0, + focal_slope: 0, + laser_id: 46, + max_intensity: 255, + min_intensity: 0, + rot_correction: -0.13962633907795, + two_pt_correction_available: false, + vert_correction: -0.343351542949677, + vert_offset_correction: 0, + } + - { + dist_correction: 0.219999998807907, + dist_correction_x: 0, + dist_correction_y: 0, + focal_distance: 0, + focal_slope: 0, + laser_id: 47, + max_intensity: 255, + min_intensity: 0, + rot_correction: -0.0872664600610733, + two_pt_correction_available: false, + vert_correction: -0.334452718496323, + vert_offset_correction: 0, + } + - { + dist_correction: 0.0599999986588955, + dist_correction_x: 0, + dist_correction_y: 0, + focal_distance: 0, + focal_slope: 0, + laser_id: 48, + max_intensity: 255, + min_intensity: 0, + rot_correction: 0, + two_pt_correction_available: false, + vert_correction: -0.272210210561752, + vert_offset_correction: 0, + } + - { + dist_correction: 0.129999995231628, + dist_correction_x: 0, + dist_correction_y: 0, + focal_distance: 0, + focal_slope: 0, + laser_id: 49, + max_intensity: 255, + min_intensity: 0, + rot_correction: 0.0558505356311798, + two_pt_correction_available: false, + vert_correction: -0.26331701874733, + vert_offset_correction: 0, + } + - { + dist_correction: 0.00999999977648258, + dist_correction_x: 0, + dist_correction_y: 0, + focal_distance: 0, + focal_slope: 0, + laser_id: 50, + max_intensity: 255, + min_intensity: 0, + rot_correction: -0.0174532923847437, + two_pt_correction_available: false, + vert_correction: -0.323895305395126, + vert_offset_correction: 0, + } + - { + dist_correction: 0.150000005960464, + dist_correction_x: 0, + dist_correction_y: 0, + focal_distance: 0, + focal_slope: 0, + laser_id: 51, + max_intensity: 255, + min_intensity: 0, + rot_correction: 0.0349065847694874, + two_pt_correction_available: false, + vert_correction: -0.316663861274719, + vert_offset_correction: 0, + } + - { + dist_correction: 0.200000002980232, + dist_correction_x: 0, + dist_correction_y: 0, + focal_distance: 0, + focal_slope: 0, + laser_id: 52, + max_intensity: 255, + min_intensity: 0, + rot_correction: 0.122173048555851, + two_pt_correction_available: false, + vert_correction: -0.254421383142471, + vert_offset_correction: 0, + } + - { + dist_correction: 0.239999994635582, + dist_correction_x: 0, + dist_correction_y: 0, + focal_distance: 0, + focal_slope: 0, + laser_id: 53, + max_intensity: 255, + min_intensity: 0, + rot_correction: 0.165806278586388, + two_pt_correction_available: false, + vert_correction: -0.245522528886795, + vert_offset_correction: 0, + } + - { + dist_correction: 0.180000007152557, + dist_correction_x: 0, + dist_correction_y: 0, + focal_distance: 0, + focal_slope: 0, + laser_id: 54, + max_intensity: 255, + min_intensity: 0, + rot_correction: 0.104719758033752, + two_pt_correction_available: false, + vert_correction: -0.307772427797318, + vert_offset_correction: 0, + } + - { + dist_correction: 0.219999998807907, + dist_correction_x: 0, + dist_correction_y: 0, + focal_distance: 0, + focal_slope: 0, + laser_id: 55, + max_intensity: 255, + min_intensity: 0, + rot_correction: 0.157079637050629, + two_pt_correction_available: false, + vert_correction: -0.298882067203522, + vert_offset_correction: 0, + } + - { + dist_correction: 0.140000000596046, + dist_correction_x: 0, + dist_correction_y: 0, + focal_distance: 0, + focal_slope: 0, + laser_id: 56, + max_intensity: 255, + min_intensity: 0, + rot_correction: -0.104719758033752, + two_pt_correction_available: false, + vert_correction: -0.183082059025764, + vert_offset_correction: 0, + } + - { + dist_correction: 0.319999992847443, + dist_correction_x: 0, + dist_correction_y: 0, + focal_distance: 0, + focal_slope: 0, + laser_id: 57, + max_intensity: 255, + min_intensity: 0, + rot_correction: -0.0610865242779255, + two_pt_correction_available: false, + vert_correction: -0.17413204908371, + vert_offset_correction: 0, + } + - { + dist_correction: 0.200000002980232, + dist_correction_x: 0, + dist_correction_y: 0, + focal_distance: 0, + focal_slope: 0, + laser_id: 58, + max_intensity: 255, + min_intensity: 0, + rot_correction: -0.13962633907795, + two_pt_correction_available: false, + vert_correction: -0.236619830131531, + vert_offset_correction: 0, + } + - { + dist_correction: 0.25, + dist_correction_x: 0, + dist_correction_y: 0, + focal_distance: 0, + focal_slope: 0, + laser_id: 59, + max_intensity: 255, + min_intensity: 0, + rot_correction: -0.0785398185253143, + two_pt_correction_available: false, + vert_correction: -0.22771255671978, + vert_offset_correction: 0, + } + - { + dist_correction: 0.170000001788139, + dist_correction_x: 0, + dist_correction_y: 0, + focal_distance: 0, + focal_slope: 0, + laser_id: 60, + max_intensity: 255, + min_intensity: 0, + rot_correction: 0, + two_pt_correction_available: false, + vert_correction: -0.16517236828804, + vert_offset_correction: 0, + } + - { + dist_correction: 0.230000004172325, + dist_correction_x: 0, + dist_correction_y: 0, + focal_distance: 0, + focal_slope: 0, + laser_id: 61, + max_intensity: 255, + min_intensity: 0, + rot_correction: 0.0436332300305367, + two_pt_correction_available: false, + vert_correction: -0.156202226877213, + vert_offset_correction: 0, + } + - { + dist_correction: 0.150000005960464, + dist_correction_x: 0, + dist_correction_y: 0, + focal_distance: 0, + focal_slope: 0, + laser_id: 62, + max_intensity: 255, + min_intensity: 0, + rot_correction: -0.0174532923847437, + two_pt_correction_available: false, + vert_correction: -0.218799933791161, + vert_offset_correction: 0, + } + - { + dist_correction: 0.230000004172325, + dist_correction_x: 0, + dist_correction_y: 0, + focal_distance: 0, + focal_slope: 0, + laser_id: 63, + max_intensity: 255, + min_intensity: 0, + rot_correction: 0.0314159244298935, + two_pt_correction_available: false, + vert_correction: -0.209881335496902, + vert_offset_correction: 0, } num_lasers: 64 distance_resolution: 0.002 diff --git a/nebula_decoders/calibration/velodyne/VLP16.yaml b/nebula_decoders/calibration/velodyne/VLP16.yaml index e545e40a0..b2e57adca 100644 --- a/nebula_decoders/calibration/velodyne/VLP16.yaml +++ b/nebula_decoders/calibration/velodyne/VLP16.yaml @@ -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 diff --git a/nebula_decoders/calibration/velodyne/VLP16_hires.yaml b/nebula_decoders/calibration/velodyne/VLP16_hires.yaml index 9a8c97e63..1a9eb9b0a 100644 --- a/nebula_decoders/calibration/velodyne/VLP16_hires.yaml +++ b/nebula_decoders/calibration/velodyne/VLP16_hires.yaml @@ -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: -0.17453292519943295, - 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: 0.011635528346628864, - 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: -0.15126186850617523, - 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: 0.03490658503988659, - 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: -0.1279908118129175, - 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: 0.05817764173314432, - 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: -0.10471975511965977, - 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: 0.08144869842640205, - 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: -0.08144869842640205, - 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: 0.10471975511965977, - 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: -0.05817764173314432, - 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: 0.1279908118129175, - 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: -0.03490658503988659, - 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: 0.15126186850617523, - 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: -0.011635528346628864, - 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: 0.17453292519943295, - 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: -0.17453292519943295, + 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: 0.011635528346628864, + 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: -0.15126186850617523, + 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: 0.03490658503988659, + 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: -0.1279908118129175, + 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: 0.05817764173314432, + 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: -0.10471975511965977, + 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: 0.08144869842640205, + 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: -0.08144869842640205, + 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: 0.10471975511965977, + 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: -0.05817764173314432, + 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: 0.1279908118129175, + 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: -0.03490658503988659, + 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: 0.15126186850617523, + 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: -0.011635528346628864, + 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: 0.17453292519943295, + vert_offset_correction: 0.0, } num_lasers: 16 distance_resolution: 0.002 diff --git a/nebula_decoders/calibration/velodyne/VLP32.yaml b/nebula_decoders/calibration/velodyne/VLP32.yaml index 32e7681dc..de3ddd829 100644 --- a/nebula_decoders/calibration/velodyne/VLP32.yaml +++ b/nebula_decoders/calibration/velodyne/VLP32.yaml @@ -1,387 +1,387 @@ 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: -0.024434609527920613, - vert_correction: -0.4363323129985824, - 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: 0.07330382858376185, - 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: -0.024434609527920613, - vert_correction: -0.029094638630745476, - 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: 0.024434609527920613, - vert_correction: -0.2729520417193932, - 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: -0.024434609527920613, - vert_correction: -0.19739673840055869, - 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: 0.024434609527920613, - vert_correction: 0.0, - 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: -0.07330382858376185, - vert_correction: -0.011641346110802179, - 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: 0.024434609527920613, - vert_correction: -0.15433946575385857, - 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: -0.024434609527920613, - vert_correction: -0.12660618393966866, - 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: 0.07330382858376185, - vert_correction: 0.005811946409141118, - 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: -0.024434609527920613, - vert_correction: -0.005811946409141118, - 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: 0.024434609527920613, - vert_correction: -0.10730284241261137, - 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: -0.07330382858376185, - vert_correction: -0.0930784090088576, - 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: 0.024434609527920613, - vert_correction: 0.02326523892908441, - 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: -0.07330382858376185, - vert_correction: 0.011641346110802179, - 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: 0.024434609527920613, - vert_correction: -0.06981317007977318, - 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: 16, - rot_correction: -0.024434609527920613, - vert_correction: -0.08145451619057535, - 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: 17, - rot_correction: 0.07330382858376185, - vert_correction: 0.029094638630745476, - 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: 18, - rot_correction: -0.024434609527920613, - 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: 19, - rot_correction: 0.07330382858376185, - vert_correction: -0.06400122367063206, - 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: 20, - rot_correction: -0.07330382858376185, - vert_correction: -0.058171823968971005, - 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: 21, - rot_correction: 0.024434609527920613, - vert_correction: 0.058171823968971005, - 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: 22, - rot_correction: -0.024434609527920613, - vert_correction: 0.04071853144902771, - 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: 23, - rot_correction: 0.024434609527920613, - vert_correction: -0.04654793115068877, - 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: 24, - rot_correction: -0.024434609527920613, - 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: 25, - rot_correction: 0.024434609527920613, - 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: 26, - rot_correction: -0.024434609527920613, - vert_correction: 0.08145451619057535, - 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: 27, - rot_correction: 0.07330382858376185, - vert_correction: -0.04071853144902771, - 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: 28, - rot_correction: -0.07330382858376185, - vert_correction: -0.03490658503988659, - 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: 29, - rot_correction: 0.024434609527920613, - 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: 30, - rot_correction: -0.024434609527920613, - vert_correction: 0.18034487160857407, - 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: 31, - rot_correction: 0.024434609527920613, - vert_correction: -0.02326523892908441, - 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: -0.024434609527920613, + vert_correction: -0.4363323129985824, + 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: 0.07330382858376185, + 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: -0.024434609527920613, + vert_correction: -0.029094638630745476, + 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: 0.024434609527920613, + vert_correction: -0.2729520417193932, + 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: -0.024434609527920613, + vert_correction: -0.19739673840055869, + 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: 0.024434609527920613, + vert_correction: 0.0, + 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: -0.07330382858376185, + vert_correction: -0.011641346110802179, + 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: 0.024434609527920613, + vert_correction: -0.15433946575385857, + 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: -0.024434609527920613, + vert_correction: -0.12660618393966866, + 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: 0.07330382858376185, + vert_correction: 0.005811946409141118, + 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: -0.024434609527920613, + vert_correction: -0.005811946409141118, + 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: 0.024434609527920613, + vert_correction: -0.10730284241261137, + 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: -0.07330382858376185, + vert_correction: -0.0930784090088576, + 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: 0.024434609527920613, + vert_correction: 0.02326523892908441, + 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: -0.07330382858376185, + vert_correction: 0.011641346110802179, + 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: 0.024434609527920613, + vert_correction: -0.06981317007977318, + 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: 16, + rot_correction: -0.024434609527920613, + vert_correction: -0.08145451619057535, + 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: 17, + rot_correction: 0.07330382858376185, + vert_correction: 0.029094638630745476, + 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: 18, + rot_correction: -0.024434609527920613, + 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: 19, + rot_correction: 0.07330382858376185, + vert_correction: -0.06400122367063206, + 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: 20, + rot_correction: -0.07330382858376185, + vert_correction: -0.058171823968971005, + 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: 21, + rot_correction: 0.024434609527920613, + vert_correction: 0.058171823968971005, + 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: 22, + rot_correction: -0.024434609527920613, + vert_correction: 0.04071853144902771, + 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: 23, + rot_correction: 0.024434609527920613, + vert_correction: -0.04654793115068877, + 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: 24, + rot_correction: -0.024434609527920613, + 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: 25, + rot_correction: 0.024434609527920613, + 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: 26, + rot_correction: -0.024434609527920613, + vert_correction: 0.08145451619057535, + 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: 27, + rot_correction: 0.07330382858376185, + vert_correction: -0.04071853144902771, + 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: 28, + rot_correction: -0.07330382858376185, + vert_correction: -0.03490658503988659, + 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: 29, + rot_correction: 0.024434609527920613, + 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: 30, + rot_correction: -0.024434609527920613, + vert_correction: 0.18034487160857407, + 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: 31, + rot_correction: 0.024434609527920613, + vert_correction: -0.02326523892908441, + vert_offset_correction: 0.0, } num_lasers: 32 distance_resolution: 0.004 diff --git a/nebula_decoders/calibration/velodyne/VLP32MR.yaml b/nebula_decoders/calibration/velodyne/VLP32MR.yaml index 32e7681dc..de3ddd829 100644 --- a/nebula_decoders/calibration/velodyne/VLP32MR.yaml +++ b/nebula_decoders/calibration/velodyne/VLP32MR.yaml @@ -1,387 +1,387 @@ 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: -0.024434609527920613, - vert_correction: -0.4363323129985824, - 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: 0.07330382858376185, - 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: -0.024434609527920613, - vert_correction: -0.029094638630745476, - 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: 0.024434609527920613, - vert_correction: -0.2729520417193932, - 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: -0.024434609527920613, - vert_correction: -0.19739673840055869, - 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: 0.024434609527920613, - vert_correction: 0.0, - 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: -0.07330382858376185, - vert_correction: -0.011641346110802179, - 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: 0.024434609527920613, - vert_correction: -0.15433946575385857, - 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: -0.024434609527920613, - vert_correction: -0.12660618393966866, - 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: 0.07330382858376185, - vert_correction: 0.005811946409141118, - 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: -0.024434609527920613, - vert_correction: -0.005811946409141118, - 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: 0.024434609527920613, - vert_correction: -0.10730284241261137, - 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: -0.07330382858376185, - vert_correction: -0.0930784090088576, - 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: 0.024434609527920613, - vert_correction: 0.02326523892908441, - 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: -0.07330382858376185, - vert_correction: 0.011641346110802179, - 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: 0.024434609527920613, - vert_correction: -0.06981317007977318, - 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: 16, - rot_correction: -0.024434609527920613, - vert_correction: -0.08145451619057535, - 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: 17, - rot_correction: 0.07330382858376185, - vert_correction: 0.029094638630745476, - 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: 18, - rot_correction: -0.024434609527920613, - 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: 19, - rot_correction: 0.07330382858376185, - vert_correction: -0.06400122367063206, - 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: 20, - rot_correction: -0.07330382858376185, - vert_correction: -0.058171823968971005, - 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: 21, - rot_correction: 0.024434609527920613, - vert_correction: 0.058171823968971005, - 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: 22, - rot_correction: -0.024434609527920613, - vert_correction: 0.04071853144902771, - 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: 23, - rot_correction: 0.024434609527920613, - vert_correction: -0.04654793115068877, - 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: 24, - rot_correction: -0.024434609527920613, - 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: 25, - rot_correction: 0.024434609527920613, - 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: 26, - rot_correction: -0.024434609527920613, - vert_correction: 0.08145451619057535, - 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: 27, - rot_correction: 0.07330382858376185, - vert_correction: -0.04071853144902771, - 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: 28, - rot_correction: -0.07330382858376185, - vert_correction: -0.03490658503988659, - 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: 29, - rot_correction: 0.024434609527920613, - 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: 30, - rot_correction: -0.024434609527920613, - vert_correction: 0.18034487160857407, - 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: 31, - rot_correction: 0.024434609527920613, - vert_correction: -0.02326523892908441, - 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: -0.024434609527920613, + vert_correction: -0.4363323129985824, + 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: 0.07330382858376185, + 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: -0.024434609527920613, + vert_correction: -0.029094638630745476, + 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: 0.024434609527920613, + vert_correction: -0.2729520417193932, + 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: -0.024434609527920613, + vert_correction: -0.19739673840055869, + 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: 0.024434609527920613, + vert_correction: 0.0, + 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: -0.07330382858376185, + vert_correction: -0.011641346110802179, + 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: 0.024434609527920613, + vert_correction: -0.15433946575385857, + 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: -0.024434609527920613, + vert_correction: -0.12660618393966866, + 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: 0.07330382858376185, + vert_correction: 0.005811946409141118, + 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: -0.024434609527920613, + vert_correction: -0.005811946409141118, + 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: 0.024434609527920613, + vert_correction: -0.10730284241261137, + 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: -0.07330382858376185, + vert_correction: -0.0930784090088576, + 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: 0.024434609527920613, + vert_correction: 0.02326523892908441, + 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: -0.07330382858376185, + vert_correction: 0.011641346110802179, + 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: 0.024434609527920613, + vert_correction: -0.06981317007977318, + 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: 16, + rot_correction: -0.024434609527920613, + vert_correction: -0.08145451619057535, + 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: 17, + rot_correction: 0.07330382858376185, + vert_correction: 0.029094638630745476, + 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: 18, + rot_correction: -0.024434609527920613, + 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: 19, + rot_correction: 0.07330382858376185, + vert_correction: -0.06400122367063206, + 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: 20, + rot_correction: -0.07330382858376185, + vert_correction: -0.058171823968971005, + 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: 21, + rot_correction: 0.024434609527920613, + vert_correction: 0.058171823968971005, + 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: 22, + rot_correction: -0.024434609527920613, + vert_correction: 0.04071853144902771, + 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: 23, + rot_correction: 0.024434609527920613, + vert_correction: -0.04654793115068877, + 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: 24, + rot_correction: -0.024434609527920613, + 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: 25, + rot_correction: 0.024434609527920613, + 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: 26, + rot_correction: -0.024434609527920613, + vert_correction: 0.08145451619057535, + 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: 27, + rot_correction: 0.07330382858376185, + vert_correction: -0.04071853144902771, + 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: 28, + rot_correction: -0.07330382858376185, + vert_correction: -0.03490658503988659, + 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: 29, + rot_correction: 0.024434609527920613, + 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: 30, + rot_correction: -0.024434609527920613, + vert_correction: 0.18034487160857407, + 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: 31, + rot_correction: 0.024434609527920613, + vert_correction: -0.02326523892908441, + vert_offset_correction: 0.0, } num_lasers: 32 distance_resolution: 0.004 diff --git a/nebula_decoders/calibration/velodyne/VLS128.yaml b/nebula_decoders/calibration/velodyne/VLS128.yaml index 8c783c4a2..dc7057b83 100644 --- a/nebula_decoders/calibration/velodyne/VLS128.yaml +++ b/nebula_decoders/calibration/velodyne/VLS128.yaml @@ -1,1411 +1,1411 @@ lasers: - - { - dist_correction: 0.0, - dist_correction_x: 0.0, - dist_correction_y: 0.0, - focal_distance: 0.0, - focal_slope: 0.0, - laser_id: 0, - rot_correction: -0.1108982206717197, - vert_correction: -0.2049365607691742, - 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, - laser_id: 1, - rot_correction: -0.07937757438070212, - vert_correction: -0.034732052114687155, - 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, - laser_id: 2, - rot_correction: -0.04768239516448509, - vert_correction: 0.059341194567807204, - 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, - laser_id: 3, - rot_correction: -0.015899949485668342, - vert_correction: -0.09232791743050003, - 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, - laser_id: 4, - rot_correction: 0.015899949485668342, - vert_correction: -0.013613568165555772, - 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, - laser_id: 5, - rot_correction: 0.04768239516448509, - vert_correction: 0.0804596785169386, - 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, - laser_id: 6, - rot_correction: 0.07937757438070212, - vert_correction: -0.07120943348136864, - 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, - laser_id: 7, - rot_correction: 0.1108982206717197, - vert_correction: 0.022863813201125717, - 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, - laser_id: 8, - rot_correction: -0.1108982206717197, - vert_correction: -0.11344640137963143, - 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, - laser_id: 9, - rot_correction: -0.07937757438070212, - vert_correction: -0.01937315469713706, - 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, - laser_id: 10, - rot_correction: -0.04768239516448509, - vert_correction: 0.0747000919853573, - 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, - laser_id: 11, - rot_correction: -0.015899949485668342, - vert_correction: -0.07696902001294993, - vert_offset_correction: 0.0, - 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} - - { - dist_correction: 0.0, - dist_correction_x: 0.0, - dist_correction_y: 0.0, - focal_distance: 0.0, - focal_slope: 0.0, - laser_id: 72, - rot_correction: -0.1108982206717197, - vert_correction: -0.08272860654453122, - 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, - laser_id: 73, - rot_correction: -0.07937757438070212, - vert_correction: 0.011344640137963142, - 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, - laser_id: 74, - rot_correction: -0.04768239516448509, - vert_correction: 0.20507618710933373, - 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, - laser_id: 75, - rot_correction: -0.015899949485668342, - vert_correction: -0.046251225177849735, - 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, - laser_id: 76, - rot_correction: 0.015899949485668342, - vert_correction: 0.03246312408709453, - 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, - laser_id: 77, - rot_correction: 0.04768239516448509, - vert_correction: -0.12479104151759457, - 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, - laser_id: 78, - rot_correction: 0.07937757438070212, - vert_correction: -0.025132741228718343, - 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, - laser_id: 79, - rot_correction: 0.1108982206717197, - vert_correction: 0.06894050545377602, - 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, - laser_id: 80, - rot_correction: -0.1108982206717197, - vert_correction: -0.03665191429188092, - 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, - laser_id: 81, - rot_correction: -0.07937757438070212, - vert_correction: 0.05742133239061344, - 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, - laser_id: 82, - rot_correction: -0.04768239516448509, - vert_correction: -0.0942477796076938, - 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, - laser_id: 83, - rot_correction: -0.015899949485668342, - vert_correction: -0.00017453292519943296, - 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, - laser_id: 84, - rot_correction: 0.015899949485668342, - vert_correction: 0.07853981633974483, - 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, - laser_id: 85, - rot_correction: 0.04768239516448509, - vert_correction: -0.07312929565856241, - 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, - laser_id: 86, - rot_correction: 0.07937757438070212, - vert_correction: 0.020943951023931952, - 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, - laser_id: 87, - rot_correction: 0.1108982206717197, - vert_correction: -0.23675391303303078, - 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, - laser_id: 88, - rot_correction: -0.1108982206717197, - vert_correction: -0.02129301687433082, - 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, - laser_id: 89, - rot_correction: -0.07937757438070212, - vert_correction: 0.07278022980816354, - 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, - laser_id: 90, - rot_correction: -0.04768239516448509, - vert_correction: -0.07888888219014369, - 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, - laser_id: 91, - rot_correction: -0.015899949485668342, - vert_correction: 0.015184364492350668, - 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, - laser_id: 92, - rot_correction: 0.015899949485668342, - vert_correction: 0.10611601852125524, - 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, - laser_id: 93, - rot_correction: 0.04768239516448509, - vert_correction: -0.05777039824101231, - 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, - laser_id: 94, - rot_correction: 0.07937757438070212, - vert_correction: 0.03630284844148206, - 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, - laser_id: 95, - rot_correction: 0.1108982206717197, - vert_correction: -0.11606439525762292, - 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, - laser_id: 96, - rot_correction: -0.1108982206717197, - vert_correction: 0.024783675378319478, - 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, - laser_id: 97, - rot_correction: -0.07937757438070212, - vert_correction: -0.18057176441133332, - 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, - laser_id: 98, - rot_correction: -0.04768239516448509, - vert_correction: -0.032812189937493394, - 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, - laser_id: 99, - rot_correction: -0.015899949485668342, - vert_correction: 0.061261056745000965, - 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, - laser_id: 100, - rot_correction: 0.015899949485668342, - vert_correction: -0.10576695267085637, - 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, - laser_id: 101, - rot_correction: 0.04768239516448509, - vert_correction: -0.011693705988362009, - 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, - laser_id: 102, - rot_correction: 0.07937757438070212, - vert_correction: 0.08237954069413235, - 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, - laser_id: 103, - rot_correction: 0.1108982206717197, - vert_correction: -0.06928957130417489, - 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, - laser_id: 104, - rot_correction: -0.1108982206717197, - vert_correction: 0.04014257279586958, - 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, - laser_id: 105, - rot_correction: -0.07937757438070212, - vert_correction: -0.11152653920243766, - 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, - laser_id: 106, - rot_correction: -0.04768239516448509, - 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, - laser_id: 107, - rot_correction: -0.015899949485668342, - vert_correction: 0.07661995416255106, - 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, - laser_id: 108, - rot_correction: 0.015899949485668342, - vert_correction: -0.09040805525330627, - 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, - laser_id: 109, - rot_correction: 0.04768239516448509, - vert_correction: 0.003665191429188092, - 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, - laser_id: 110, - rot_correction: 0.07937757438070212, - vert_correction: 0.12182398178920421, - 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, - laser_id: 111, - rot_correction: 0.1108982206717197, - vert_correction: -0.05393067388662478, - 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, - laser_id: 112, - rot_correction: -0.1108982206717197, - vert_correction: 0.08691739674931762, - 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, - laser_id: 113, - rot_correction: -0.07937757438070212, - vert_correction: -0.06544984694978735, - 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, - laser_id: 114, - rot_correction: -0.04768239516448509, - vert_correction: 0.028623399732707003, - 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, - laser_id: 115, - rot_correction: -0.015899949485668342, - vert_correction: -0.1457698991265664, - 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, - laser_id: 116, - rot_correction: 0.015899949485668342, - vert_correction: -0.044331363000655974, - 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, - laser_id: 117, - rot_correction: 0.04768239516448509, - vert_correction: 0.04974188368183839, - 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, - laser_id: 118, - rot_correction: 0.07937757438070212, - vert_correction: -0.10192722831646885, - 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, - laser_id: 119, - rot_correction: 0.1108982206717197, - vert_correction: -0.007853981633974483, - 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, - laser_id: 120, - rot_correction: -0.1108982206717197, - vert_correction: 0.14713125594312199, - 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, - laser_id: 121, - rot_correction: -0.07937757438070212, - vert_correction: -0.05009094953223726, - 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, - laser_id: 122, - rot_correction: -0.04768239516448509, - vert_correction: 0.0439822971502571, - 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, - laser_id: 123, - rot_correction: -0.015899949485668342, - vert_correction: -0.10768681484805014, - 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, - laser_id: 124, - rot_correction: 0.015899949485668342, - vert_correction: -0.02897246558310587, - 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, - laser_id: 125, - rot_correction: 0.04768239516448509, - vert_correction: 0.0651007810993885, - 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, - laser_id: 126, - rot_correction: 0.07937757438070212, - vert_correction: -0.08656833089891874, - 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, - laser_id: 127, - rot_correction: 0.1108982206717197, - vert_correction: 0.007504915783575617, - 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, + laser_id: 0, + rot_correction: -0.1108982206717197, + vert_correction: -0.2049365607691742, + 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, + laser_id: 1, + rot_correction: -0.07937757438070212, + vert_correction: -0.034732052114687155, + 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, + laser_id: 2, + rot_correction: -0.04768239516448509, + vert_correction: 0.059341194567807204, + 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, + laser_id: 3, + rot_correction: -0.015899949485668342, + vert_correction: -0.09232791743050003, + 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, + laser_id: 4, + rot_correction: 0.015899949485668342, + vert_correction: -0.013613568165555772, + 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, + laser_id: 5, + rot_correction: 0.04768239516448509, + vert_correction: 0.0804596785169386, + 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, + laser_id: 6, + rot_correction: 0.07937757438070212, + vert_correction: -0.07120943348136864, + 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, + laser_id: 7, + rot_correction: 0.1108982206717197, + vert_correction: 0.022863813201125717, + 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, + laser_id: 8, + rot_correction: -0.1108982206717197, + vert_correction: -0.11344640137963143, + 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, + laser_id: 9, + rot_correction: -0.07937757438070212, + vert_correction: -0.01937315469713706, + 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, + laser_id: 10, + rot_correction: -0.04768239516448509, + vert_correction: 0.0747000919853573, + 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, + laser_id: 11, + rot_correction: -0.015899949485668342, + vert_correction: -0.07696902001294993, + 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, + laser_id: 12, + rot_correction: 0.015899949485668342, + vert_correction: 0.0017453292519943296, + 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, + laser_id: 13, + rot_correction: 0.04768239516448509, + vert_correction: 0.11309733552923257, + 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, + laser_id: 14, + rot_correction: 0.07937757438070212, + vert_correction: -0.05585053606381855, + 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, + laser_id: 15, + rot_correction: 0.1108982206717197, + vert_correction: 0.03822271061867582, + 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, + laser_id: 16, + rot_correction: -0.1108982206717197, + vert_correction: -0.06736970912698112, + 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, + laser_id: 17, + rot_correction: -0.07937757438070212, + vert_correction: 0.026703537555513242, + 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, + laser_id: 18, + rot_correction: -0.04768239516448509, + vert_correction: -0.16133823605435582, + 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, + laser_id: 19, + rot_correction: -0.015899949485668342, + vert_correction: -0.030892327760299633, + 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, + laser_id: 20, + rot_correction: 0.015899949485668342, + vert_correction: 0.04782202150464463, + 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, + laser_id: 21, + rot_correction: 0.04768239516448509, + vert_correction: -0.10384709049366261, + 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, + laser_id: 22, + rot_correction: 0.07937757438070212, + vert_correction: -0.009773843811168246, + 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, + laser_id: 23, + rot_correction: 0.1108982206717197, + vert_correction: 0.08429940287132612, + 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, + laser_id: 24, + rot_correction: -0.1108982206717197, + vert_correction: -0.05201081170943102, + 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, + laser_id: 25, + rot_correction: -0.07937757438070212, + vert_correction: 0.04206243497306335, + 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, + laser_id: 26, + rot_correction: -0.04768239516448509, + vert_correction: -0.1096066770252439, + 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, + laser_id: 27, + rot_correction: -0.015899949485668342, + vert_correction: -0.015533430342749533, + 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, + laser_id: 28, + rot_correction: 0.015899949485668342, + vert_correction: 0.06318091892219473, + 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, + laser_id: 29, + rot_correction: 0.04768239516448509, + vert_correction: -0.08848819307611251, + 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, + laser_id: 30, + rot_correction: 0.07937757438070212, + vert_correction: 0.005585053606381855, + 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, + laser_id: 31, + rot_correction: 0.1108982206717197, + vert_correction: 0.1322959573011702, + 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, + laser_id: 32, + rot_correction: -0.1108982206717197, + vert_correction: -0.005934119456780721, + 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, + laser_id: 33, + rot_correction: -0.07937757438070212, + vert_correction: 0.09040805525330627, + 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, + laser_id: 34, + rot_correction: -0.04768239516448509, + vert_correction: -0.0635299847725936, + 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, + laser_id: 35, + rot_correction: -0.015899949485668342, + vert_correction: 0.030543261909900768, + 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, + laser_id: 36, + rot_correction: 0.015899949485668342, + vert_correction: -0.4363323129985824, + 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, + laser_id: 37, + rot_correction: 0.04768239516448509, + vert_correction: -0.04241150082346221, + 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, + laser_id: 38, + rot_correction: 0.07937757438070212, + vert_correction: 0.05166174585903215, + 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, + laser_id: 39, + rot_correction: 0.1108982206717197, + vert_correction: -0.10000736613927509, + 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, + laser_id: 40, + rot_correction: -0.1108982206717197, + vert_correction: 0.00942477796076938, + 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, + laser_id: 41, + rot_correction: -0.07937757438070212, + vert_correction: 0.16929693744344995, + 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, + laser_id: 42, + rot_correction: -0.04768239516448509, + vert_correction: -0.04817108735504349, + 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, + laser_id: 43, + rot_correction: -0.015899949485668342, + vert_correction: 0.04590215932745086, + 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, + laser_id: 44, + rot_correction: 0.015899949485668342, + vert_correction: -0.13351768777756623, + 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, + laser_id: 45, + rot_correction: 0.04768239516448509, + vert_correction: -0.027052603405912107, + 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, + laser_id: 46, + rot_correction: 0.07937757438070212, + vert_correction: 0.06702064327658225, + 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, + laser_id: 47, + rot_correction: 0.1108982206717197, + vert_correction: -0.08464846872172498, + 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, + laser_id: 48, + rot_correction: -0.1108982206717197, + vert_correction: 0.05550147021341968, + 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, + laser_id: 49, + rot_correction: -0.07937757438070212, + vert_correction: -0.09616764178488756, + 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, + laser_id: 50, + rot_correction: -0.04768239516448509, + vert_correction: -0.0020943951023931952, + 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, + laser_id: 51, + rot_correction: -0.015899949485668342, + vert_correction: 0.10000736613927509, + 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, + laser_id: 52, + rot_correction: 0.015899949485668342, + vert_correction: -0.07504915783575616, + 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, + laser_id: 53, + rot_correction: 0.04768239516448509, + vert_correction: 0.019024088846738195, + 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, + laser_id: 54, + rot_correction: 0.07937757438070212, + vert_correction: -0.2799857186049304, + 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, + laser_id: 55, + rot_correction: 0.1108982206717197, + vert_correction: -0.038571776469074684, + 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, + laser_id: 56, + rot_correction: -0.1108982206717197, + vert_correction: 0.07086036763096977, + 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, + laser_id: 57, + rot_correction: -0.07937757438070212, + vert_correction: -0.08080874436733745, + 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, + laser_id: 58, + rot_correction: -0.04768239516448509, + vert_correction: 0.013264502315156905, + 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, + laser_id: 59, + rot_correction: -0.015899949485668342, + 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, + laser_id: 60, + rot_correction: 0.015899949485668342, + vert_correction: -0.05969026041820607, + 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, + laser_id: 61, + rot_correction: 0.04768239516448509, + vert_correction: 0.03438298626428829, + 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, + laser_id: 62, + rot_correction: 0.07937757438070212, + vert_correction: -0.11955505376161157, + 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, + laser_id: 63, + rot_correction: 0.1108982206717197, + vert_correction: -0.023212879051524585, + 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, + laser_id: 64, + rot_correction: -0.1108982206717197, + vert_correction: -0.09808750396208132, + 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, + laser_id: 65, + rot_correction: -0.07937757438070212, + vert_correction: -0.004014257279586958, + 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, + laser_id: 66, + rot_correction: -0.04768239516448509, + vert_correction: 0.0947713783832921, + 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, + laser_id: 67, + rot_correction: -0.015899949485668342, + vert_correction: -0.06161012259539983, + 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, + laser_id: 68, + rot_correction: 0.015899949485668342, + vert_correction: 0.01710422666954443, + 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, + laser_id: 69, + rot_correction: 0.04768239516448509, + vert_correction: -0.34177037412552963, + 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, + laser_id: 70, + rot_correction: 0.07937757438070212, + vert_correction: -0.040491638646268445, + 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, + laser_id: 71, + rot_correction: 0.1108982206717197, + vert_correction: 0.053581608036225914, + 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, + laser_id: 72, + rot_correction: -0.1108982206717197, + vert_correction: -0.08272860654453122, + 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, + laser_id: 73, + rot_correction: -0.07937757438070212, + vert_correction: 0.011344640137963142, + 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, + laser_id: 74, + rot_correction: -0.04768239516448509, + vert_correction: 0.20507618710933373, + 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, + laser_id: 75, + rot_correction: -0.015899949485668342, + vert_correction: -0.046251225177849735, + 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, + laser_id: 76, + rot_correction: 0.015899949485668342, + vert_correction: 0.03246312408709453, + 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, + laser_id: 77, + rot_correction: 0.04768239516448509, + vert_correction: -0.12479104151759457, + 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, + laser_id: 78, + rot_correction: 0.07937757438070212, + vert_correction: -0.025132741228718343, + 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, + laser_id: 79, + rot_correction: 0.1108982206717197, + vert_correction: 0.06894050545377602, + 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, + laser_id: 80, + rot_correction: -0.1108982206717197, + vert_correction: -0.03665191429188092, + 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, + laser_id: 81, + rot_correction: -0.07937757438070212, + vert_correction: 0.05742133239061344, + 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, + laser_id: 82, + rot_correction: -0.04768239516448509, + vert_correction: -0.0942477796076938, + 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, + laser_id: 83, + rot_correction: -0.015899949485668342, + vert_correction: -0.00017453292519943296, + 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, + laser_id: 84, + rot_correction: 0.015899949485668342, + vert_correction: 0.07853981633974483, + 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, + laser_id: 85, + rot_correction: 0.04768239516448509, + vert_correction: -0.07312929565856241, + 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, + laser_id: 86, + rot_correction: 0.07937757438070212, + vert_correction: 0.020943951023931952, + 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, + laser_id: 87, + rot_correction: 0.1108982206717197, + vert_correction: -0.23675391303303078, + 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, + laser_id: 88, + rot_correction: -0.1108982206717197, + vert_correction: -0.02129301687433082, + 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, + laser_id: 89, + rot_correction: -0.07937757438070212, + vert_correction: 0.07278022980816354, + 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, + laser_id: 90, + rot_correction: -0.04768239516448509, + vert_correction: -0.07888888219014369, + 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, + laser_id: 91, + rot_correction: -0.015899949485668342, + vert_correction: 0.015184364492350668, + 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, + laser_id: 92, + rot_correction: 0.015899949485668342, + vert_correction: 0.10611601852125524, + 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, + laser_id: 93, + rot_correction: 0.04768239516448509, + vert_correction: -0.05777039824101231, + 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, + laser_id: 94, + rot_correction: 0.07937757438070212, + vert_correction: 0.03630284844148206, + 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, + laser_id: 95, + rot_correction: 0.1108982206717197, + vert_correction: -0.11606439525762292, + 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, + laser_id: 96, + rot_correction: -0.1108982206717197, + vert_correction: 0.024783675378319478, + 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, + laser_id: 97, + rot_correction: -0.07937757438070212, + vert_correction: -0.18057176441133332, + 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, + laser_id: 98, + rot_correction: -0.04768239516448509, + vert_correction: -0.032812189937493394, + 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, + laser_id: 99, + rot_correction: -0.015899949485668342, + vert_correction: 0.061261056745000965, + 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, + laser_id: 100, + rot_correction: 0.015899949485668342, + vert_correction: -0.10576695267085637, + 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, + laser_id: 101, + rot_correction: 0.04768239516448509, + vert_correction: -0.011693705988362009, + 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, + laser_id: 102, + rot_correction: 0.07937757438070212, + vert_correction: 0.08237954069413235, + 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, + laser_id: 103, + rot_correction: 0.1108982206717197, + vert_correction: -0.06928957130417489, + 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, + laser_id: 104, + rot_correction: -0.1108982206717197, + vert_correction: 0.04014257279586958, + 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, + laser_id: 105, + rot_correction: -0.07937757438070212, + vert_correction: -0.11152653920243766, + 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, + laser_id: 106, + rot_correction: -0.04768239516448509, + 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, + laser_id: 107, + rot_correction: -0.015899949485668342, + vert_correction: 0.07661995416255106, + 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, + laser_id: 108, + rot_correction: 0.015899949485668342, + vert_correction: -0.09040805525330627, + 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, + laser_id: 109, + rot_correction: 0.04768239516448509, + vert_correction: 0.003665191429188092, + 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, + laser_id: 110, + rot_correction: 0.07937757438070212, + vert_correction: 0.12182398178920421, + 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, + laser_id: 111, + rot_correction: 0.1108982206717197, + vert_correction: -0.05393067388662478, + 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, + laser_id: 112, + rot_correction: -0.1108982206717197, + vert_correction: 0.08691739674931762, + 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, + laser_id: 113, + rot_correction: -0.07937757438070212, + vert_correction: -0.06544984694978735, + 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, + laser_id: 114, + rot_correction: -0.04768239516448509, + vert_correction: 0.028623399732707003, + 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, + laser_id: 115, + rot_correction: -0.015899949485668342, + vert_correction: -0.1457698991265664, + 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, + laser_id: 116, + rot_correction: 0.015899949485668342, + vert_correction: -0.044331363000655974, + 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, + laser_id: 117, + rot_correction: 0.04768239516448509, + vert_correction: 0.04974188368183839, + 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, + laser_id: 118, + rot_correction: 0.07937757438070212, + vert_correction: -0.10192722831646885, + 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, + laser_id: 119, + rot_correction: 0.1108982206717197, + vert_correction: -0.007853981633974483, + 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, + laser_id: 120, + rot_correction: -0.1108982206717197, + vert_correction: 0.14713125594312199, + 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, + laser_id: 121, + rot_correction: -0.07937757438070212, + vert_correction: -0.05009094953223726, + 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, + laser_id: 122, + rot_correction: -0.04768239516448509, + vert_correction: 0.0439822971502571, + 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, + laser_id: 123, + rot_correction: -0.015899949485668342, + vert_correction: -0.10768681484805014, + 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, + laser_id: 124, + rot_correction: 0.015899949485668342, + vert_correction: -0.02897246558310587, + 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, + laser_id: 125, + rot_correction: 0.04768239516448509, + vert_correction: 0.0651007810993885, + 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, + laser_id: 126, + rot_correction: 0.07937757438070212, + vert_correction: -0.08656833089891874, + 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, + laser_id: 127, + rot_correction: 0.1108982206717197, + vert_correction: 0.007504915783575617, + vert_offset_correction: 0.0, } num_lasers: 128 distance_resolution: 0.007 diff --git a/nebula_ros/schema/ARS548.schema.json b/nebula_ros/schema/ARS548.schema.json index d16385400..543e1297d 100644 --- a/nebula_ros/schema/ARS548.schema.json +++ b/nebula_ros/schema/ARS548.schema.json @@ -53,9 +53,7 @@ }, "sensor_model": { "$ref": "sub/radar_continental.json#/definitions/sensor_model", - "enum": [ - "ARS548" - ] + "enum": ["ARS548"] } }, "required": [ @@ -82,14 +80,10 @@ "$ref": "#/definitions/ARS548" } }, - "required": [ - "ros__parameters" - ], + "required": ["ros__parameters"], "additionalProperties": false } }, - "required": [ - "/**" - ], + "required": ["/**"], "additionalProperties": false } diff --git a/nebula_ros/schema/Bpearl.schema.json b/nebula_ros/schema/Bpearl.schema.json index 65a9bf9f1..b24691984 100644 --- a/nebula_ros/schema/Bpearl.schema.json +++ b/nebula_ros/schema/Bpearl.schema.json @@ -47,9 +47,7 @@ }, "sensor_model": { "$ref": "sub/lidar_robosense.json#/definitions/sensor_model", - "enum": [ - "Bpearl" - ] + "enum": ["Bpearl"] }, "return_mode": { "$ref": "sub/lidar_robosense.json#/definitions/return_mode" @@ -83,14 +81,10 @@ "$ref": "#/definitions/Bpearl" } }, - "required": [ - "ros__parameters" - ], + "required": ["ros__parameters"], "additionalProperties": false } }, - "required": [ - "/**" - ], + "required": ["/**"], "additionalProperties": false } diff --git a/nebula_ros/schema/Helios.schema.json b/nebula_ros/schema/Helios.schema.json index 3c3cec750..a692b7e40 100644 --- a/nebula_ros/schema/Helios.schema.json +++ b/nebula_ros/schema/Helios.schema.json @@ -47,9 +47,7 @@ }, "sensor_model": { "$ref": "sub/lidar_robosense.json#/definitions/sensor_model", - "enum": [ - "Helios" - ] + "enum": ["Helios"] }, "return_mode": { "$ref": "sub/lidar_robosense.json#/definitions/return_mode" @@ -83,14 +81,10 @@ "$ref": "#/definitions/Helios" } }, - "required": [ - "ros__parameters" - ], + "required": ["ros__parameters"], "additionalProperties": false } }, - "required": [ - "/**" - ], + "required": ["/**"], "additionalProperties": false } diff --git a/nebula_ros/schema/Pandar128E4X.schema.json b/nebula_ros/schema/Pandar128E4X.schema.json index cae88b605..0e8eff81e 100644 --- a/nebula_ros/schema/Pandar128E4X.schema.json +++ b/nebula_ros/schema/Pandar128E4X.schema.json @@ -59,9 +59,7 @@ }, "sensor_model": { "$ref": "sub/lidar_hesai.json#/definitions/sensor_model", - "enum": [ - "Pandar128E4X" - ] + "enum": ["Pandar128E4X"] }, "calibration_file": { "$ref": "sub/lidar_hesai.json#/definitions/calibration_file" @@ -83,18 +81,14 @@ }, "ptp_profile": { "$ref": "sub/lidar_hesai.json#/definitions/ptp_profile", - "enum": [ - "automotive" - ] + "enum": ["automotive"] }, "ptp_domain": { "$ref": "sub/lidar_hesai.json#/definitions/ptp_domain" }, "ptp_transport_type": { "$ref": "sub/lidar_hesai.json#/definitions/ptp_transport_type", - "enum": [ - "L2" - ] + "enum": ["L2"] }, "ptp_switch_type": { "$ref": "sub/lidar_hesai.json#/definitions/ptp_switch_type" @@ -149,13 +143,9 @@ }, "additionalProperties": false }, - "required": [ - "ros__parameters" - ] + "required": ["ros__parameters"] } }, - "required": [ - "/**" - ], + "required": ["/**"], "additionalProperties": false } diff --git a/nebula_ros/schema/Pandar40P.schema.json b/nebula_ros/schema/Pandar40P.schema.json index e0b2ef83c..966804da1 100644 --- a/nebula_ros/schema/Pandar40P.schema.json +++ b/nebula_ros/schema/Pandar40P.schema.json @@ -59,9 +59,7 @@ }, "sensor_model": { "$ref": "sub/lidar_hesai.json#/definitions/sensor_model", - "enum": [ - "Pandar40P" - ] + "enum": ["Pandar40P"] }, "calibration_file": { "$ref": "sub/lidar_hesai.json#/definitions/calibration_file" @@ -71,12 +69,7 @@ }, "return_mode": { "$ref": "sub/misc.json#/definitions/return_mode", - "enum": [ - "Last", - "Strongest", - "LastStrongest", - "Dual" - ] + "enum": ["Last", "Strongest", "LastStrongest", "Dual"] }, "ptp_profile": { "$ref": "sub/lidar_hesai.json#/definitions/ptp_profile" @@ -140,13 +133,9 @@ }, "additionalProperties": false }, - "required": [ - "ros__parameters" - ] + "required": ["ros__parameters"] } }, - "required": [ - "/**" - ], + "required": ["/**"], "additionalProperties": false } diff --git a/nebula_ros/schema/Pandar64.schema.json b/nebula_ros/schema/Pandar64.schema.json index c8eea129b..facc2a909 100644 --- a/nebula_ros/schema/Pandar64.schema.json +++ b/nebula_ros/schema/Pandar64.schema.json @@ -59,9 +59,7 @@ }, "sensor_model": { "$ref": "sub/lidar_hesai.json#/definitions/sensor_model", - "enum": [ - "Pandar64" - ] + "enum": ["Pandar64"] }, "calibration_file": { "$ref": "sub/lidar_hesai.json#/definitions/calibration_file" @@ -71,12 +69,7 @@ }, "return_mode": { "$ref": "sub/misc.json#/definitions/return_mode", - "enum": [ - "Last", - "Strongest", - "LastStrongest", - "Dual" - ] + "enum": ["Last", "Strongest", "LastStrongest", "Dual"] }, "ptp_profile": { "$ref": "sub/lidar_hesai.json#/definitions/ptp_profile" @@ -140,13 +133,9 @@ }, "additionalProperties": false }, - "required": [ - "ros__parameters" - ] + "required": ["ros__parameters"] } }, - "required": [ - "/**" - ], + "required": ["/**"], "additionalProperties": false } diff --git a/nebula_ros/schema/PandarAT128.schema.json b/nebula_ros/schema/PandarAT128.schema.json index 7ef9cd4e3..9429c9020 100644 --- a/nebula_ros/schema/PandarAT128.schema.json +++ b/nebula_ros/schema/PandarAT128.schema.json @@ -74,9 +74,7 @@ }, "sensor_model": { "$ref": "sub/lidar_hesai.json#/definitions/sensor_model", - "enum": [ - "PandarAT128" - ] + "enum": ["PandarAT128"] }, "calibration_file": { "$ref": "sub/lidar_hesai.json#/definitions/calibration_file" @@ -84,19 +82,11 @@ "rotation_speed": { "$ref": "sub/hardware.json#/definitions/rotation_speed", "default": "200", - "enum": [ - 200, - 400 - ] + "enum": [200, 400] }, "return_mode": { "$ref": "sub/misc.json#/definitions/return_mode", - "enum": [ - "Last", - "Strongest", - "LastStrongest", - "Dual" - ] + "enum": ["Last", "Strongest", "LastStrongest", "Dual"] }, "ptp_profile": { "$ref": "sub/lidar_hesai.json#/definitions/ptp_profile" @@ -161,13 +151,9 @@ }, "additionalProperties": false }, - "required": [ - "ros__parameters" - ] + "required": ["ros__parameters"] } }, - "required": [ - "/**" - ], + "required": ["/**"], "additionalProperties": false } diff --git a/nebula_ros/schema/PandarQT128.schema.json b/nebula_ros/schema/PandarQT128.schema.json index 580e0d3ac..3150ca88a 100644 --- a/nebula_ros/schema/PandarQT128.schema.json +++ b/nebula_ros/schema/PandarQT128.schema.json @@ -59,9 +59,7 @@ }, "sensor_model": { "$ref": "sub/lidar_hesai.json#/definitions/sensor_model", - "enum": [ - "PandarQT128" - ] + "enum": ["PandarQT128"] }, "calibration_file": { "$ref": "sub/lidar_hesai.json#/definitions/calibration_file" @@ -143,13 +141,9 @@ }, "additionalProperties": false }, - "required": [ - "ros__parameters" - ] + "required": ["ros__parameters"] } }, - "required": [ - "/**" - ], + "required": ["/**"], "additionalProperties": false } diff --git a/nebula_ros/schema/PandarQT64.schema.json b/nebula_ros/schema/PandarQT64.schema.json index 925f51967..deedbce62 100644 --- a/nebula_ros/schema/PandarQT64.schema.json +++ b/nebula_ros/schema/PandarQT64.schema.json @@ -59,9 +59,7 @@ }, "sensor_model": { "$ref": "sub/lidar_hesai.json#/definitions/sensor_model", - "enum": [ - "PandarQT64" - ] + "enum": ["PandarQT64"] }, "calibration_file": { "$ref": "sub/lidar_hesai.json#/definitions/calibration_file" @@ -71,12 +69,7 @@ }, "return_mode": { "$ref": "sub/misc.json#/definitions/return_mode", - "enum": [ - "Last", - "First", - "LastFirst", - "Dual" - ] + "enum": ["Last", "First", "LastFirst", "Dual"] }, "ptp_profile": { "$ref": "sub/lidar_hesai.json#/definitions/ptp_profile" @@ -140,13 +133,9 @@ }, "additionalProperties": false }, - "required": [ - "ros__parameters" - ] + "required": ["ros__parameters"] } }, - "required": [ - "/**" - ], + "required": ["/**"], "additionalProperties": false } diff --git a/nebula_ros/schema/PandarXT32.schema.json b/nebula_ros/schema/PandarXT32.schema.json index d8c3e35ef..6b5fa4adc 100644 --- a/nebula_ros/schema/PandarXT32.schema.json +++ b/nebula_ros/schema/PandarXT32.schema.json @@ -59,9 +59,7 @@ }, "sensor_model": { "$ref": "sub/lidar_hesai.json#/definitions/sensor_model", - "enum": [ - "PandarXT32" - ] + "enum": ["PandarXT32"] }, "calibration_file": { "$ref": "sub/lidar_hesai.json#/definitions/calibration_file" @@ -143,13 +141,9 @@ }, "additionalProperties": false }, - "required": [ - "ros__parameters" - ] + "required": ["ros__parameters"] } }, - "required": [ - "/**" - ], + "required": ["/**"], "additionalProperties": false } diff --git a/nebula_ros/schema/PandarXT32M.schema.json b/nebula_ros/schema/PandarXT32M.schema.json index 9ad61e557..5cbf1ad90 100644 --- a/nebula_ros/schema/PandarXT32M.schema.json +++ b/nebula_ros/schema/PandarXT32M.schema.json @@ -59,9 +59,7 @@ }, "sensor_model": { "$ref": "sub/lidar_hesai.json#/definitions/sensor_model", - "enum": [ - "PandarXT32M" - ] + "enum": ["PandarXT32M"] }, "calibration_file": { "$ref": "sub/lidar_hesai.json#/definitions/calibration_file" @@ -143,13 +141,9 @@ }, "additionalProperties": false }, - "required": [ - "ros__parameters" - ] + "required": ["ros__parameters"] } }, - "required": [ - "/**" - ], + "required": ["/**"], "additionalProperties": false } diff --git a/nebula_ros/schema/SRR520.schema.json b/nebula_ros/schema/SRR520.schema.json index 1936602e1..a81b84d16 100644 --- a/nebula_ros/schema/SRR520.schema.json +++ b/nebula_ros/schema/SRR520.schema.json @@ -38,9 +38,7 @@ }, "sensor_model": { "$ref": "sub/radar_continental.json#/definitions/sensor_model", - "enum": [ - "SRR520" - ] + "enum": ["SRR520"] } }, "required": [ @@ -63,14 +61,10 @@ "$ref": "#/definitions/SRR520" } }, - "required": [ - "ros__parameters" - ], + "required": ["ros__parameters"], "additionalProperties": false } }, - "required": [ - "/**" - ], + "required": ["/**"], "additionalProperties": false } diff --git a/nebula_ros/schema/VLP16.schema.json b/nebula_ros/schema/VLP16.schema.json index 6ac8ee642..fa9ca86f4 100644 --- a/nebula_ros/schema/VLP16.schema.json +++ b/nebula_ros/schema/VLP16.schema.json @@ -56,9 +56,7 @@ }, "sensor_model": { "$ref": "sub/lidar_velodyne.json#/definitions/sensor_model", - "enum": [ - "VLP16" - ] + "enum": ["VLP16"] }, "calibration_file": { "$ref": "sub/lidar_velodyne.json#/definitions/calibration_file" @@ -103,14 +101,10 @@ "$ref": "#/definitions/VLP16" } }, - "required": [ - "ros__parameters" - ], + "required": ["ros__parameters"], "additionalProperties": false } }, - "required": [ - "/**" - ], + "required": ["/**"], "additionalProperties": false } diff --git a/nebula_ros/schema/VLP32.schema.json b/nebula_ros/schema/VLP32.schema.json index bba1f7440..70b438d49 100644 --- a/nebula_ros/schema/VLP32.schema.json +++ b/nebula_ros/schema/VLP32.schema.json @@ -56,9 +56,7 @@ }, "sensor_model": { "$ref": "sub/lidar_velodyne.json#/definitions/sensor_model", - "enum": [ - "VLP32" - ] + "enum": ["VLP32"] }, "calibration_file": { "$ref": "sub/lidar_velodyne.json#/definitions/calibration_file" @@ -104,13 +102,9 @@ }, "additionalProperties": false }, - "required": [ - "ros__parameters" - ] + "required": ["ros__parameters"] } }, - "required": [ - "/**" - ], + "required": ["/**"], "additionalProperties": false } diff --git a/nebula_ros/schema/VLS128.schema.json b/nebula_ros/schema/VLS128.schema.json index fb0e214b8..7727a33d1 100644 --- a/nebula_ros/schema/VLS128.schema.json +++ b/nebula_ros/schema/VLS128.schema.json @@ -56,9 +56,7 @@ }, "sensor_model": { "$ref": "sub/lidar_velodyne.json#/definitions/sensor_model", - "enum": [ - "VLS128" - ] + "enum": ["VLS128"] }, "calibration_file": { "$ref": "sub/lidar_velodyne.json#/definitions/calibration_file" @@ -104,13 +102,9 @@ }, "additionalProperties": false }, - "required": [ - "ros__parameters" - ] + "required": ["ros__parameters"] } }, - "required": [ - "/**" - ], + "required": ["/**"], "additionalProperties": false } diff --git a/nebula_ros/schema/example.schema.template.json b/nebula_ros/schema/example.schema.template.json index eef5ca4e2..7cb2669f2 100644 --- a/nebula_ros/schema/example.schema.template.json +++ b/nebula_ros/schema/example.schema.template.json @@ -53,14 +53,10 @@ "$ref": "#/definitions/" } }, - "required": [ - "ros__parameters" - ], + "required": ["ros__parameters"], "additionalProperties": false } }, - "required": [ - "/**" - ], + "required": ["/**"], "additionalProperties": false } diff --git a/nebula_ros/schema/sub/lidar_hesai.json b/nebula_ros/schema/sub/lidar_hesai.json index eb2e24c31..2bebac5c6 100644 --- a/nebula_ros/schema/sub/lidar_hesai.json +++ b/nebula_ros/schema/sub/lidar_hesai.json @@ -39,11 +39,7 @@ "ptp_profile": { "type": "string", "default": "1588v2", - "enum": [ - "1588v2", - "802.1as", - "automotive" - ], + "enum": ["1588v2", "802.1as", "automotive"], "description": "PTP profile." }, "ptp_domain": { @@ -56,19 +52,13 @@ "ptp_transport_type": { "type": "string", "default": "UDP", - "enum": [ - "UDP", - "L2" - ], + "enum": ["UDP", "L2"], "description": "1588v2 supports 'UDP' or 'L2', other profiles only L2 (HW)." }, "ptp_switch_type": { "type": "string", "default": "TSN", - "enum": [ - "TSN", - "NON_TSN" - ], + "enum": ["TSN", "NON_TSN"], "description": "For automotive profile,'TSN' or 'NON_TSN'." }, "ptp_lock_threshold": { diff --git a/nebula_ros/schema/sub/lidar_robosense.json b/nebula_ros/schema/sub/lidar_robosense.json index 5fed19f04..a028beccc 100644 --- a/nebula_ros/schema/sub/lidar_robosense.json +++ b/nebula_ros/schema/sub/lidar_robosense.json @@ -5,19 +5,11 @@ "definitions": { "sensor_model": { "$ref": "hardware.json#/definitions/sensor_model", - "enum": [ - "Helios", - "Bpearl" - ] + "enum": ["Helios", "Bpearl"] }, "return_mode": { "$ref": "misc.json#/definitions/return_mode", - "enum": [ - "Dual", - "Strongest", - "Last", - "First" - ] + "enum": ["Dual", "Strongest", "Last", "First"] } } } diff --git a/nebula_ros/schema/sub/lidar_velodyne.json b/nebula_ros/schema/sub/lidar_velodyne.json index dbb9f2c96..2f5e815ca 100644 --- a/nebula_ros/schema/sub/lidar_velodyne.json +++ b/nebula_ros/schema/sub/lidar_velodyne.json @@ -5,11 +5,7 @@ "definitions": { "sensor_model": { "$ref": "hardware.json#/definitions/sensor_model", - "enum": [ - "VLP16", - "VLP32", - "VLS128" - ] + "enum": ["VLP16", "VLP32", "VLS128"] }, "calibration_file": { "$ref": "misc.json#/definitions/calibration_file", @@ -17,12 +13,7 @@ }, "return_mode": { "$ref": "misc.json#/definitions/return_mode", - "enum": [ - "SingleStrongest", - "SingleLast", - "Dual", - "SingleFirst" - ] + "enum": ["SingleStrongest", "SingleLast", "Dual", "SingleFirst"] }, "rotation_speed": { "$ref": "hardware.json#/definitions/rotation_speed", diff --git a/nebula_ros/schema/sub/radar_continental.json b/nebula_ros/schema/sub/radar_continental.json index 278877917..1188c5e89 100644 --- a/nebula_ros/schema/sub/radar_continental.json +++ b/nebula_ros/schema/sub/radar_continental.json @@ -5,10 +5,7 @@ "definitions": { "sensor_model": { "$ref": "hardware.json#/definitions/sensor_model", - "enum": [ - "ARS548", - "SRR520" - ] + "enum": ["ARS548", "SRR520"] } } } diff --git a/nebula_ros/schema/sub/type_vendor.template.json b/nebula_ros/schema/sub/type_vendor.template.json index 5e81c4f33..93b2d01d9 100644 --- a/nebula_ros/schema/sub/type_vendor.template.json +++ b/nebula_ros/schema/sub/type_vendor.template.json @@ -5,10 +5,7 @@ "definitions": { "sensor_model": { "$ref": "hardware.json#/definitions/sensor_model", - "enum": [ - "", - "" - ] + "enum": ["", ""] }, "example_parameter_1": { "type": "integer",