diff --git a/.clang-format b/.clang-format index b41fae912..cd54eb45d 100644 --- a/.clang-format +++ b/.clang-format @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + # Modified from https://github.com/ament/ament_lint/blob/master/ament_clang_format/ament_clang_format/configuration/.clang-format Language: Cpp BasedOnStyle: Google diff --git a/.github/dependabot.yaml b/.github/dependabot.yaml index 3f3bf243f..8e2d7193a 100644 --- a/.github/dependabot.yaml +++ b/.github/dependabot.yaml @@ -1,10 +1,15 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + version: 2 updates: - package-ecosystem: github-actions directory: / + # https://docs.github.com/en/code-security/dependabot/dependabot-version-updates/configuration-options-for-the-dependabot.yml-file#scheduleinterval schedule: - interval: daily + interval: monthly open-pull-requests-limit: 1 labels: - - bot - - github-actions + - tag:bot + - type:github-actions diff --git a/.github/workflows/build-and-test-differential.yaml b/.github/workflows/build-and-test-differential.yaml index bfee62fdd..bc35c48c0 100644 --- a/.github/workflows/build-and-test-differential.yaml +++ b/.github/workflows/build-and-test-differential.yaml @@ -15,7 +15,7 @@ jobs: agnocast_enabled: [0, 1] exclude: - rosdistro: jazzy - agnocast_enabled: 1 # Agnocast does not yet support Jazzy + agnocast_enabled: 1 # Agnocast does not yet support Jazzy env: CCACHE_DIR: /root/.ccache CC: /usr/lib/ccache/gcc @@ -178,7 +178,7 @@ jobs: rosdistro: ${{ matrix.rosdistro }} target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }} build-depends-repos: build_depends-${{ matrix.rosdistro }}.repos - cmake-build-type: Debug # Faster compilation than Release + cmake-build-type: Debug # Faster compilation than Release - name: Show ccache stats after build if: steps.cache-analysis.outputs.cache-hit != 'true' diff --git a/.github/workflows/build-and-test.yaml b/.github/workflows/build-and-test.yaml index 55295fb55..7e9233d65 100644 --- a/.github/workflows/build-and-test.yaml +++ b/.github/workflows/build-and-test.yaml @@ -18,10 +18,10 @@ jobs: agnocast_enabled: [0, 1] exclude: - rosdistro: jazzy - agnocast_enabled: 1 # Agnocast does not yet support Jazzy + agnocast_enabled: 1 # Agnocast does not yet support Jazzy env: CCACHE_DIR: /root/.ccache - CCACHE_SIZE: 1G # The GitHub cache action allows for 10G but the runners' disk space is limited + CCACHE_SIZE: 1G # The GitHub cache action allows for 10G but the runners' disk space is limited CC: /usr/lib/ccache/gcc CXX: /usr/lib/ccache/g++ AGNOCAST_ENABLED: ${{ matrix.agnocast_enabled }} diff --git a/.github/workflows/pre-commit-optional.yaml b/.github/workflows/pre-commit-optional.yaml index e754ecab2..b0ae24a9e 100644 --- a/.github/workflows/pre-commit-optional.yaml +++ b/.github/workflows/pre-commit-optional.yaml @@ -1,14 +1,22 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + name: pre-commit-optional on: pull_request: +concurrency: + group: ${{ github.workflow }}-${{ github.event_name }}-${{ github.ref }} + cancel-in-progress: true + jobs: pre-commit-optional: - runs-on: ubuntu-latest + runs-on: ubuntu-22.04 steps: - name: Check out repository - uses: actions/checkout@v3 + uses: actions/checkout@v4 with: fetch-depth: 0 diff --git a/.github/workflows/semantic-pull-request.yaml b/.github/workflows/semantic-pull-request.yaml index 71224c224..b56040b08 100644 --- a/.github/workflows/semantic-pull-request.yaml +++ b/.github/workflows/semantic-pull-request.yaml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + name: semantic-pull-request on: diff --git a/.github/workflows/spell-check-differential.yaml b/.github/workflows/spell-check-differential.yaml index eb18ccdba..e3d2c708e 100644 --- a/.github/workflows/spell-check-differential.yaml +++ b/.github/workflows/spell-check-differential.yaml @@ -1,16 +1,27 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + name: spell-check-differential on: pull_request: +concurrency: + group: ${{ github.workflow }}-${{ github.event_name }}-${{ github.ref }} + cancel-in-progress: true + jobs: spell-check-differential: - runs-on: ubuntu-latest + runs-on: ubuntu-22.04 steps: - name: Check out repository - uses: actions/checkout@v3 + uses: actions/checkout@v4 - name: Run spell-check uses: autowarefoundation/autoware-github-actions/spell-check@v1 with: - cspell-json-url: https://raw.githubusercontent.com/tier4/autoware-spell-check-dict/main/.cspell.json + cspell-json-url: https://raw.githubusercontent.com/autowarefoundation/autoware-spell-check-dict/main/.cspell.json + dict-packages: | + https://github.com/autowarefoundation/autoware-spell-check-dict + https://github.com/tier4/cspell-dicts diff --git a/.github/workflows/sync-files.yaml b/.github/workflows/sync-files.yaml index b9dc5907a..a8a035398 100644 --- a/.github/workflows/sync-files.yaml +++ b/.github/workflows/sync-files.yaml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + name: sync-files on: @@ -5,20 +9,17 @@ on: - cron: 0 0 * * * workflow_dispatch: -jobs: - check-secret: - uses: autowarefoundation/autoware-github-actions/.github/workflows/check-secret.yaml@v1 - secrets: - secret: ${{ secrets.APP_ID }} +concurrency: + group: ${{ github.workflow }}-${{ github.event_name }}-${{ github.ref }} + cancel-in-progress: true +jobs: sync-files: - needs: check-secret - if: ${{ needs.check-secret.outputs.set == 'true' }} - runs-on: ubuntu-latest + runs-on: ubuntu-22.04 steps: - name: Generate token id: generate-token - uses: tibdex/github-app-token@v1 + uses: tibdex/github-app-token@v2 with: app_id: ${{ secrets.APP_ID }} private_key: ${{ secrets.PRIVATE_KEY }} @@ -28,6 +29,6 @@ jobs: with: token: ${{ steps.generate-token.outputs.token }} pr-labels: | - bot - sync-files + tag:bot + tag:sync-files auto-merge-method: squash diff --git a/.markdown-link-check.json b/.markdown-link-check.json index 03b977748..c71a3e425 100644 --- a/.markdown-link-check.json +++ b/.markdown-link-check.json @@ -1,9 +1,5 @@ { - "aliveStatusCodes": [ - 200, - 206, - 403 - ], + "aliveStatusCodes": [200, 206, 403], "ignorePatterns": [ { "pattern": "^http://localhost" diff --git a/.markdownlint.yaml b/.markdownlint.yaml index babaaa1f1..3f0ffd4f4 100644 --- a/.markdownlint.yaml +++ b/.markdownlint.yaml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + # See https://github.com/DavidAnson/markdownlint/blob/main/doc/Rules.md for all rules. default: true MD013: false @@ -7,5 +11,7 @@ MD029: style: ordered MD033: false MD041: false +MD045: false MD046: false MD049: false +MD059: false diff --git a/.pre-commit-config-optional.yaml b/.pre-commit-config-optional.yaml index 3b43f9ae1..75e39d4eb 100644 --- a/.pre-commit-config-optional.yaml +++ b/.pre-commit-config-optional.yaml @@ -1,6 +1,16 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + +# https://pre-commit.ci/#configuration +ci: + autofix_commit_msg: "style(pre-commit-optional): autofix" + autoupdate_schedule: quarterly + autoupdate_commit_msg: "ci(pre-commit-optional): quarterly autoupdate" + repos: - repo: https://github.com/tcort/markdown-link-check - rev: v3.11.2 + rev: v3.14.2 hooks: - id: markdown-link-check args: [--quiet, --config=.markdown-link-check.json] diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index b217cf0d4..ab4342936 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -1,6 +1,12 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + +# https://pre-commit.ci/#configuration ci: - autofix_commit_msg: "ci(pre-commit): autofix" - autoupdate_commit_msg: "ci(pre-commit): autoupdate" + autofix_commit_msg: "style(pre-commit): autofix" + autoupdate_schedule: quarterly + autoupdate_commit_msg: "ci(pre-commit): quarterly autoupdate" repos: - repo: https://github.com/pre-commit/pre-commit-hooks @@ -11,7 +17,7 @@ repos: - id: check-toml - id: check-xml - id: check-yaml - args: [--allow-multiple-documents] + args: [--unsafe] - id: detect-private-key - id: end-of-file-fixer - id: mixed-line-ending @@ -19,7 +25,7 @@ repos: args: [--markdown-linebreak-ext=md] - repo: https://github.com/igorshubovych/markdownlint-cli - rev: v0.48.0 + rev: v0.47.0 hooks: - id: markdownlint args: [-c, .markdownlint.yaml, --fix] @@ -35,10 +41,19 @@ repos: hooks: - id: yamllint + - repo: https://github.com/autowarefoundation/autoware-guideline-check + rev: 0.2.0 + hooks: + - id: check-package-depends + - repo: https://github.com/tier4/pre-commit-hooks-ros rev: v0.10.2 hooks: + - id: flake8-ros + - id: prettier-xacro + - id: prettier-launch-xml - id: prettier-package-xml + - id: ros-include-guard - id: sort-package-xml - repo: https://github.com/shellcheck-py/shellcheck-py @@ -53,45 +68,48 @@ repos: args: [-w, -s, -i=4] - repo: https://github.com/pycqa/isort - rev: 8.0.1 + rev: 7.0.0 hooks: - id: isort + args: [--profile=black, --line-length=100] - repo: https://github.com/psf/black-pre-commit-mirror - rev: 26.3.0 + rev: 26.1.0 hooks: - id: black args: [--line-length=100] - - repo: https://github.com/PyCQA/flake8 - rev: 7.3.0 - hooks: - - id: flake8 - additional_dependencies: - [ - flake8-blind-except, - flake8-builtins, - flake8-class-newline, - flake8-comprehensions, - flake8-deprecated, - flake8-docstrings, - flake8-import-order, - flake8-quotes, - ] - - repo: https://github.com/pre-commit/mirrors-clang-format - rev: v22.1.0 + rev: v21.1.8 hooks: - id: clang-format - types_or: [c++, c, cuda, proto, textproto] + types_or: [c++, c, cuda] - repo: https://github.com/cpplint/cpplint rev: 2.0.2 hooks: - id: cpplint - # runtime/arrays uses the name of the variable to determine const-ness. - # This does not play well with our naming conventions - args: [--quiet, '--filter=-runtime/arrays,-build/c++17,-readability/casting'] + args: [--quiet] exclude: .cu -exclude: .svg + - repo: https://github.com/python-jsonschema/check-jsonschema + rev: 0.36.2 + hooks: + - id: check-metaschema + files: ^.+/schema/.*schema\.json$ + + - repo: local + hooks: + - id: prettier-svg + name: prettier svg + description: Apply Prettier with plugin-xml to svg. + entry: prettier --write --list-different --ignore-unknown --print-width 200 --xml-self-closing-space false --xml-whitespace-sensitivity ignore + language: node + files: .svg$ + additional_dependencies: [prettier@2.7.1, "@prettier/plugin-xml@2.2.0"] + + - repo: https://github.com/AleksaC/hadolint-py + rev: v2.14.0 + hooks: + - id: hadolint + exclude: .svg$ diff --git a/.prettierignore b/.prettierignore index 21c2dd9fd..3e96aaceb 100644 --- a/.prettierignore +++ b/.prettierignore @@ -1,3 +1,6 @@ -*.yaml +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + +*.param.yaml *.rviz -*.json diff --git a/.prettierrc.yaml b/.prettierrc.yaml index e29bf3276..fe476936f 100644 --- a/.prettierrc.yaml +++ b/.prettierrc.yaml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + printWidth: 100 tabWidth: 2 overrides: diff --git a/.yamllint.yaml b/.yamllint.yaml index 7837bfe0a..e0be62dbc 100644 --- a/.yamllint.yaml +++ b/.yamllint.yaml @@ -1,5 +1,12 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + extends: default +ignore: | + *.param.yaml + rules: braces: level: error @@ -10,8 +17,6 @@ rules: document-start: level: error present: false # Don't need document start markers - ignore: - - .clang-format # Needs '---' between languages line-length: disable # Delegate to Prettier truthy: level: error @@ -19,7 +24,3 @@ rules: quoted-strings: level: error required: only-when-needed # To keep consistent style - indentation: - spaces: consistent - indent-sequences: true - check-multi-line-strings: false diff --git a/CPPLINT.cfg b/CPPLINT.cfg index ba6bdf08c..159042dba 100644 --- a/CPPLINT.cfg +++ b/CPPLINT.cfg @@ -1,12 +1,18 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + # Modified from https://github.com/ament/ament_lint/blob/ebd524bb9973d5ec1dc48a670ce54f958a5a0243/ament_cpplint/ament_cpplint/main.py#L64-L120 set noparent linelength=100 includeorder=standardcfirst filter=-build/c++11 # we do allow C++11 +filter=-build/c++17 # we allow filter=-build/namespaces_literals # we allow using namespace for literals filter=-runtime/references # we consider passing non-const references to be ok filter=-whitespace/braces # we wrap open curly braces for namespaces, classes and functions filter=-whitespace/indent # we don't indent keywords like public, protected and private with one space +filter=-whitespace/newline # we allow the developer to decide about newline at the end of file (it's clashing with clang-format) filter=-whitespace/parens # we allow closing parenthesis to be on the next line filter=-whitespace/semicolon # we allow the developer to decide about whitespace after a semicolon filter=-build/header_guard # we automatically fix the names of header guards using pre-commit diff --git a/docs/parameters/vendors/hesai/sensor_angle_examples.svg b/docs/parameters/vendors/hesai/sensor_angle_examples.svg index 78f5f652f..4f3fcab73 100644 --- a/docs/parameters/vendors/hesai/sensor_angle_examples.svg +++ b/docs/parameters/vendors/hesai/sensor_angle_examples.svg @@ -1,4 +1,591 @@ -
Cut Angle
=
FoV End
Cut Angle...
0
0
FoV Start
FoV Start
FoV End
FoV End
Sync Angle
Sync Angle
Cut Angle
Cut Angle
Azimuth
Azimuth
0
0
FoV Start
FoV Start
Sync Angle
Sync Angle
Azimuth
Azimuth
0
0
auto
auto
Relative Point Time [ms]
Relative Point Time [ms] \ No newline at end of file + + + + + + + + + + + + + + + + +
+
+
+ Cut Angle +
+ = +
FoV End
+
+
+
+ + Cut Angle... + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
+
+
+ 0 +
+
+
+ + 0 + + + + + + + + + + + + +
+
+
+ FoV Start +
+
+
+ + FoV Start + + + + + + + + + + + + +
+
+
+ FoV End +
+
+
+ + FoV End + + + + + + + + + + + + +
+
+
+ Sync Angle +
+
+
+ + Sync Angle + + + + + + + + + + + + +
+
+
+ Cut Angle +
+
+
+ + Cut Angle + + + + + + + + + + + + + + + + + + + + + + + +
+
+
+ Azimuth +
+
+
+ + Azimuth + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
+
+
+ 0 +
+
+
+ + 0 + + + + + + + + + + + + +
+
+
+ FoV Start +
+
+
+ + FoV Start + + + + + + + + + + + + +
+
+
+ Sync Angle +
+
+
+ + Sync Angle + + + + + + + + + + + + + + + + + + + + + + + +
+
+
+ Azimuth +
+
+
+ + Azimuth + + + + + + + + + + + + + + + + + +
+
+
+ 0 +
+
+
+ + 0 + + + + + + + + + + + + +
+
+
+ auto +
+
+
+ + auto + + + + + + + + + + + + +
+
+
+ Relative Point Time [ms] +
+
+
+ + Relative Point Time [ms] + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/docs/parameters/vendors/hesai/sensor_angles.svg b/docs/parameters/vendors/hesai/sensor_angles.svg index efb52bc38..3f158ffcc 100644 --- a/docs/parameters/vendors/hesai/sensor_angles.svg +++ b/docs/parameters/vendors/hesai/sensor_angles.svg @@ -1,4 +1,472 @@ -
encoder angle
encoder angle
corrected angle
corrected angle
correction range
correction range
outside of FoV
outside of FoV
0
0
FoV Start
FoV Start
FoV End
FoV End
Sync Angle
Sync Angle
Cut Angle
Cut Angle
Azimuth
Azimuth \ No newline at end of file + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
+
+
+ encoder angle +
+
+
+ + encoder angle + + + + + + + + + + + + +
+
+
+ corrected angle +
+
+
+ + corrected angle + + + + + + + + + + + + + + + + + + + + + + +
+
+
+ correction range +
+
+
+ + correction range + + + + + + + + + + + + +
+
+
+ outside of FoV +
+
+
+ + outside of FoV + + + + + + + + + + + + + + + + + + + + + + + +
+
+
+ 0 +
+
+
+ + 0 + + + + + + + + + + + + +
+
+
+ FoV Start +
+
+
+ + FoV Start + + + + + + + + + + + + +
+
+
+ FoV End +
+
+
+ + FoV End + + + + + + + + + + + + +
+
+
+ Sync Angle +
+
+
+ + Sync Angle + + + + + + + + + + + + +
+
+
+ Cut Angle +
+
+
+ + Cut Angle + + + + + + + + + + + + + + + + + + + + + + + +
+
+
+ Azimuth +
+
+
+ + Azimuth + + + + + + + + + + + + + + + diff --git a/setup.cfg b/setup.cfg index 5214751c7..4d7d5e5b9 100644 --- a/setup.cfg +++ b/setup.cfg @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + [flake8] # Modified from https://github.com/ament/ament_lint/blob/ebd524bb9973d5ec1dc48a670ce54f958a5a0243/ament_flake8/ament_flake8/configuration/ament_flake8.ini extend-ignore = B902,C816,D100,D101,D102,D103,D104,D105,D106,D107,D203,D212,D404,I202,CNL100,E203,E501,Q000 diff --git a/src/nebula_continental/nebula_continental/schema/ARS548.schema.json b/src/nebula_continental/nebula_continental/schema/ARS548.schema.json index ac5132896..8c6a5aba1 100644 --- a/src/nebula_continental/nebula_continental/schema/ARS548.schema.json +++ b/src/nebula_continental/nebula_continental/schema/ARS548.schema.json @@ -56,9 +56,7 @@ }, "sensor_model": { "$ref": "radar_continental.json#/definitions/sensor_model", - "enum": [ - "ARS548" - ] + "enum": ["ARS548"] }, "diagnostics": { "type": "object", @@ -87,10 +85,7 @@ "description": "Maximum blockage status level considered as Warning (0: Blind, 1: High, 2: Mid, 3: Low, 4: None). Can not be greater than `ok`. If `ok` is equal to `warn`, the status will be set to `ERROR` if the blockage status is greater than `ok`." } }, - "required": [ - "ok", - "warn" - ] + "required": ["ok", "warn"] }, "test_level": { "type": "object", @@ -110,10 +105,7 @@ "description": "Maximum blockage test level considered as Warning (0: Self test failed, 1: Self test passed, 2: Self test ongoing). Can not be greater than `ok`. If `ok` is equal to `warn`, the status will be set to `ERROR` if the blockage test is greater than `ok`." } }, - "required": [ - "ok", - "warn" - ] + "required": ["ok", "warn"] }, "num_frame_transition": { "type": "integer", @@ -165,14 +157,10 @@ "$ref": "#/definitions/ARS548" } }, - "required": [ - "ros__parameters" - ], + "required": ["ros__parameters"], "additionalProperties": false } }, - "required": [ - "/**" - ], + "required": ["/**"], "additionalProperties": false } diff --git a/src/nebula_continental/nebula_continental/schema/SRR520.schema.json b/src/nebula_continental/nebula_continental/schema/SRR520.schema.json index 243b95520..5b5f4c85f 100644 --- a/src/nebula_continental/nebula_continental/schema/SRR520.schema.json +++ b/src/nebula_continental/nebula_continental/schema/SRR520.schema.json @@ -38,9 +38,7 @@ }, "sensor_model": { "$ref": "radar_continental.json#/definitions/sensor_model", - "enum": [ - "SRR520" - ] + "enum": ["SRR520"] } }, "required": [ @@ -63,14 +61,10 @@ "$ref": "#/definitions/SRR520" } }, - "required": [ - "ros__parameters" - ], + "required": ["ros__parameters"], "additionalProperties": false } }, - "required": [ - "/**" - ], + "required": ["/**"], "additionalProperties": false } diff --git a/src/nebula_continental/nebula_continental/schema/radar_continental.json b/src/nebula_continental/nebula_continental/schema/radar_continental.json index 4539a4d3d..f1006b509 100644 --- a/src/nebula_continental/nebula_continental/schema/radar_continental.json +++ b/src/nebula_continental/nebula_continental/schema/radar_continental.json @@ -5,10 +5,7 @@ "definitions": { "sensor_model": { "$ref": "../../../nebula_core/nebula_core_ros/schema/hardware.json#/definitions/sensor_model", - "enum": [ - "ARS548", - "SRR520" - ] + "enum": ["ARS548", "SRR520"] } }, "$id": "nebula_continental/schema/radar_continental.json" diff --git a/src/nebula_continental/nebula_continental/tests/continental_ros_decoder_test_ars548.hpp b/src/nebula_continental/nebula_continental/tests/continental_ros_decoder_test_ars548.hpp index 0508aeb2e..e2dd4eede 100644 --- a/src/nebula_continental/nebula_continental/tests/continental_ros_decoder_test_ars548.hpp +++ b/src/nebula_continental/nebula_continental/tests/continental_ros_decoder_test_ars548.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef NEBULA_ContinentalRosDecoderTestArs548_H -#define NEBULA_ContinentalRosDecoderTestArs548_H +#ifndef NEBULA_CONTINENTAL__NEBULA_CONTINENTAL__TESTS__CONTINENTAL_ROS_DECODER_TEST_ARS548_HPP_ +#define NEBULA_CONTINENTAL__NEBULA_CONTINENTAL__TESTS__CONTINENTAL_ROS_DECODER_TEST_ARS548_HPP_ #include #include @@ -81,4 +81,4 @@ class ContinentalRosDecoderTest final : public rclcpp::Node //, testing::Test } // namespace nebula::ros -#endif // NEBULA_ContinentalRosDecoderTestArs548_H +#endif // NEBULA_CONTINENTAL__NEBULA_CONTINENTAL__TESTS__CONTINENTAL_ROS_DECODER_TEST_ARS548_HPP_ diff --git a/src/nebula_continental/nebula_continental/tests/continental_ros_decoder_test_srr520.hpp b/src/nebula_continental/nebula_continental/tests/continental_ros_decoder_test_srr520.hpp index e3a055147..4488d3ca5 100644 --- a/src/nebula_continental/nebula_continental/tests/continental_ros_decoder_test_srr520.hpp +++ b/src/nebula_continental/nebula_continental/tests/continental_ros_decoder_test_srr520.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef NEBULA_ContinentalRosDecoderTestsrr520_H -#define NEBULA_ContinentalRosDecoderTestsrr520_H +#ifndef NEBULA_CONTINENTAL__NEBULA_CONTINENTAL__TESTS__CONTINENTAL_ROS_DECODER_TEST_SRR520_HPP_ +#define NEBULA_CONTINENTAL__NEBULA_CONTINENTAL__TESTS__CONTINENTAL_ROS_DECODER_TEST_SRR520_HPP_ #include #include @@ -91,4 +91,4 @@ class ContinentalRosDecoderTest final : public rclcpp::Node //, testing::Test } // namespace nebula::ros -#endif // NEBULA_ContinentalRosDecoderTestsrr520_H +#endif // NEBULA_CONTINENTAL__NEBULA_CONTINENTAL__TESTS__CONTINENTAL_ROS_DECODER_TEST_SRR520_HPP_ diff --git a/src/nebula_continental/nebula_continental_decoders/include/nebula_continental_decoders/decoders/continental_packets_decoder.hpp b/src/nebula_continental/nebula_continental_decoders/include/nebula_continental_decoders/decoders/continental_packets_decoder.hpp index 6f2193c61..dca6b5e11 100644 --- a/src/nebula_continental/nebula_continental_decoders/include/nebula_continental_decoders/decoders/continental_packets_decoder.hpp +++ b/src/nebula_continental/nebula_continental_decoders/include/nebula_continental_decoders/decoders/continental_packets_decoder.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef NEBULA_WS_CONTINENTAL_PACKETS_DECODER_HPP -#define NEBULA_WS_CONTINENTAL_PACKETS_DECODER_HPP +#ifndef NEBULA_CONTINENTAL_DECODERS__DECODERS__CONTINENTAL_PACKETS_DECODER_HPP_ +#define NEBULA_CONTINENTAL_DECODERS__DECODERS__CONTINENTAL_PACKETS_DECODER_HPP_ #include #include @@ -47,4 +47,4 @@ class ContinentalPacketsDecoder virtual bool process_packet(std::unique_ptr packet_msg) = 0; }; } // namespace nebula::drivers -#endif // NEBULA_WS_CONTINENTAL_PACKETS_DECODER_HPP +#endif // NEBULA_CONTINENTAL_DECODERS__DECODERS__CONTINENTAL_PACKETS_DECODER_HPP_ diff --git a/src/nebula_continental/nebula_continental_hw_interfaces/include/nebula_continental_hw_interfaces/continental_ars548_hw_interface.hpp b/src/nebula_continental/nebula_continental_hw_interfaces/include/nebula_continental_hw_interfaces/continental_ars548_hw_interface.hpp index e54d10873..dabacd1db 100644 --- a/src/nebula_continental/nebula_continental_hw_interfaces/include/nebula_continental_hw_interfaces/continental_ars548_hw_interface.hpp +++ b/src/nebula_continental/nebula_continental_hw_interfaces/include/nebula_continental_hw_interfaces/continental_ars548_hw_interface.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef NEBULA_CONTINENTAL_ARS548_HW_INTERFACE_H -#define NEBULA_CONTINENTAL_ARS548_HW_INTERFACE_H +#ifndef NEBULA_CONTINENTAL_HW_INTERFACES__CONTINENTAL_ARS548_HW_INTERFACE_HPP_ +#define NEBULA_CONTINENTAL_HW_INTERFACES__CONTINENTAL_ARS548_HW_INTERFACE_HPP_ #include "nebula_core_common/nebula_status.hpp" #include "nebula_core_hw_interfaces/nebula_hw_interfaces_common/connections/udp.hpp" @@ -150,4 +150,4 @@ class ContinentalARS548HwInterface }; } // namespace nebula::drivers::continental_ars548 -#endif // NEBULA_CONTINENTAL_ARS548_HW_INTERFACE_H +#endif // NEBULA_CONTINENTAL_HW_INTERFACES__CONTINENTAL_ARS548_HW_INTERFACE_HPP_ diff --git a/src/nebula_continental/nebula_continental_hw_interfaces/include/nebula_continental_hw_interfaces/continental_srr520_hw_interface.hpp b/src/nebula_continental/nebula_continental_hw_interfaces/include/nebula_continental_hw_interfaces/continental_srr520_hw_interface.hpp index e54a1e1ff..f940eef39 100644 --- a/src/nebula_continental/nebula_continental_hw_interfaces/include/nebula_continental_hw_interfaces/continental_srr520_hw_interface.hpp +++ b/src/nebula_continental/nebula_continental_hw_interfaces/include/nebula_continental_hw_interfaces/continental_srr520_hw_interface.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef NEBULA_CONTINENTAL_SRR520_HW_INTERFACE_H -#define NEBULA_CONTINENTAL_SRR520_HW_INTERFACE_H +#ifndef NEBULA_CONTINENTAL_HW_INTERFACES__CONTINENTAL_SRR520_HW_INTERFACE_HPP_ +#define NEBULA_CONTINENTAL_HW_INTERFACES__CONTINENTAL_SRR520_HW_INTERFACE_HPP_ #include "nebula_core_hw_interfaces/nebula_hw_interfaces_common/connections/can.hpp" #include "nebula_core_hw_interfaces/nebula_hw_interfaces_common/nebula_hw_interface_base.hpp" @@ -136,4 +136,4 @@ class ContinentalSRR520HwInterface }; } // namespace nebula::drivers::continental_srr520 -#endif // NEBULA_CONTINENTAL_SRR520_HW_INTERFACE_H +#endif // NEBULA_CONTINENTAL_HW_INTERFACES__CONTINENTAL_SRR520_HW_INTERFACE_HPP_ diff --git a/src/nebula_core/nebula_core_common/include/nebula_core_common/nebula_common.hpp b/src/nebula_core/nebula_core_common/include/nebula_core_common/nebula_common.hpp index 674591b41..9685c9779 100644 --- a/src/nebula_core/nebula_core_common/include/nebula_core_common/nebula_common.hpp +++ b/src/nebula_core/nebula_core_common/include/nebula_core_common/nebula_common.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef NEBULA_COMMON_H -#define NEBULA_COMMON_H +#ifndef NEBULA_CORE_COMMON__NEBULA_COMMON_HPP_ +#define NEBULA_CORE_COMMON__NEBULA_COMMON_HPP_ #include @@ -537,4 +537,4 @@ static inline double rpm2hz(double rpm) } // namespace nebula::drivers -#endif // NEBULA_CONFIGURATION_BASE_H +#endif // NEBULA_CORE_COMMON__NEBULA_COMMON_HPP_ diff --git a/src/nebula_core/nebula_core_common/include/nebula_core_common/nebula_status.hpp b/src/nebula_core/nebula_core_common/include/nebula_core_common/nebula_status.hpp index 9f9eef655..17bcad135 100644 --- a/src/nebula_core/nebula_core_common/include/nebula_core_common/nebula_status.hpp +++ b/src/nebula_core/nebula_core_common/include/nebula_core_common/nebula_status.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef NEBULA_STATUS_HPP -#define NEBULA_STATUS_HPP +#ifndef NEBULA_CORE_COMMON__NEBULA_STATUS_HPP_ +#define NEBULA_CORE_COMMON__NEBULA_STATUS_HPP_ #include @@ -96,4 +96,4 @@ struct Status }; } // namespace nebula -#endif // NEBULA_STATUS_HPP +#endif // NEBULA_CORE_COMMON__NEBULA_STATUS_HPP_ diff --git a/src/nebula_core/nebula_core_decoders/include/nebula_core_decoders/nebula_driver_base.hpp b/src/nebula_core/nebula_core_decoders/include/nebula_core_decoders/nebula_driver_base.hpp index 8a7ce0fec..191fe5e50 100644 --- a/src/nebula_core/nebula_core_decoders/include/nebula_core_decoders/nebula_driver_base.hpp +++ b/src/nebula_core/nebula_core_decoders/include/nebula_core_decoders/nebula_driver_base.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef NEBULA_DRIVER_BASE_H -#define NEBULA_DRIVER_BASE_H +#ifndef NEBULA_CORE_DECODERS__NEBULA_DRIVER_BASE_HPP_ +#define NEBULA_CORE_DECODERS__NEBULA_DRIVER_BASE_HPP_ #include "nebula_core_common/nebula_common.hpp" #include "nebula_core_common/nebula_status.hpp" @@ -44,4 +44,4 @@ class NebulaDriverBase }; } // namespace nebula::drivers -#endif // NEBULA_DRIVER_BASE_H +#endif // NEBULA_CORE_DECODERS__NEBULA_DRIVER_BASE_HPP_ diff --git a/src/nebula_core/nebula_core_hw_interfaces/include/nebula_core_hw_interfaces/nebula_hw_interfaces_common/connections/can.hpp b/src/nebula_core/nebula_core_hw_interfaces/include/nebula_core_hw_interfaces/nebula_hw_interfaces_common/connections/can.hpp index a4c269f61..778125b0f 100644 --- a/src/nebula_core/nebula_core_hw_interfaces/include/nebula_core_hw_interfaces/nebula_hw_interfaces_common/connections/can.hpp +++ b/src/nebula_core/nebula_core_hw_interfaces/include/nebula_core_hw_interfaces/nebula_hw_interfaces_common/connections/can.hpp @@ -16,10 +16,10 @@ // cspell: ignore TIMESTAMPNS -#ifndef _GNU_SOURCE +#ifndef NEBULA_CORE_HW_INTERFACES__NEBULA_HW_INTERFACES_COMMON__CONNECTIONS__CAN_HPP_ // See `man strerror_r` -#define _GNU_SOURCE -#endif +#define NEBULA_CORE_HW_INTERFACES__NEBULA_HW_INTERFACES_COMMON__CONNECTIONS__CAN_HPP_ +#endif // NEBULA_CORE_HW_INTERFACES__NEBULA_HW_INTERFACES_COMMON__CONNECTIONS__CAN_HPP_ #include #include diff --git a/src/nebula_core/nebula_core_hw_interfaces/include/nebula_core_hw_interfaces/nebula_hw_interfaces_common/connections/tcp.hpp b/src/nebula_core/nebula_core_hw_interfaces/include/nebula_core_hw_interfaces/nebula_hw_interfaces_common/connections/tcp.hpp index d4216c93f..f2cdb9753 100644 --- a/src/nebula_core/nebula_core_hw_interfaces/include/nebula_core_hw_interfaces/nebula_hw_interfaces_common/connections/tcp.hpp +++ b/src/nebula_core/nebula_core_hw_interfaces/include/nebula_core_hw_interfaces/nebula_hw_interfaces_common/connections/tcp.hpp @@ -14,10 +14,10 @@ #pragma once -#ifndef _GNU_SOURCE +#ifndef NEBULA_CORE_HW_INTERFACES__NEBULA_HW_INTERFACES_COMMON__CONNECTIONS__TCP_HPP_ // See `man strerror_r` -#define _GNU_SOURCE -#endif +#define NEBULA_CORE_HW_INTERFACES__NEBULA_HW_INTERFACES_COMMON__CONNECTIONS__TCP_HPP_ +#endif // NEBULA_CORE_HW_INTERFACES__NEBULA_HW_INTERFACES_COMMON__CONNECTIONS__TCP_HPP_ #include #include diff --git a/src/nebula_core/nebula_core_hw_interfaces/include/nebula_core_hw_interfaces/nebula_hw_interfaces_common/connections/udp.hpp b/src/nebula_core/nebula_core_hw_interfaces/include/nebula_core_hw_interfaces/nebula_hw_interfaces_common/connections/udp.hpp index e3d7f3b53..2def58d31 100644 --- a/src/nebula_core/nebula_core_hw_interfaces/include/nebula_core_hw_interfaces/nebula_hw_interfaces_common/connections/udp.hpp +++ b/src/nebula_core/nebula_core_hw_interfaces/include/nebula_core_hw_interfaces/nebula_hw_interfaces_common/connections/udp.hpp @@ -14,10 +14,10 @@ #pragma once -#ifndef _GNU_SOURCE +#ifndef NEBULA_CORE_HW_INTERFACES__NEBULA_HW_INTERFACES_COMMON__CONNECTIONS__UDP_HPP_ // See `man strerror_r` -#define _GNU_SOURCE -#endif +#define NEBULA_CORE_HW_INTERFACES__NEBULA_HW_INTERFACES_COMMON__CONNECTIONS__UDP_HPP_ +#endif // NEBULA_CORE_HW_INTERFACES__NEBULA_HW_INTERFACES_COMMON__CONNECTIONS__UDP_HPP_ #include #include diff --git a/src/nebula_core/nebula_core_hw_interfaces/include/nebula_core_hw_interfaces/nebula_hw_interfaces_common/nebula_hw_interface_base.hpp b/src/nebula_core/nebula_core_hw_interfaces/include/nebula_core_hw_interfaces/nebula_hw_interfaces_common/nebula_hw_interface_base.hpp index 08b22eed8..02c53c957 100644 --- a/src/nebula_core/nebula_core_hw_interfaces/include/nebula_core_hw_interfaces/nebula_hw_interfaces_common/nebula_hw_interface_base.hpp +++ b/src/nebula_core/nebula_core_hw_interfaces/include/nebula_core_hw_interfaces/nebula_hw_interfaces_common/nebula_hw_interface_base.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef NEBULA_HW_INTERFACE_BASE_H -#define NEBULA_HW_INTERFACE_BASE_H +#ifndef NEBULA_CORE_HW_INTERFACES__NEBULA_HW_INTERFACES_COMMON__NEBULA_HW_INTERFACE_BASE_HPP_ +#define NEBULA_CORE_HW_INTERFACES__NEBULA_HW_INTERFACES_COMMON__NEBULA_HW_INTERFACE_BASE_HPP_ #include "nebula_core_common/nebula_common.hpp" #include "nebula_core_common/nebula_status.hpp" @@ -77,4 +77,4 @@ class NebulaHwInterfaceBase } // namespace nebula::drivers -#endif // NEBULA_HW_INTERFACE_BASE_H +#endif // NEBULA_CORE_HW_INTERFACES__NEBULA_HW_INTERFACES_COMMON__NEBULA_HW_INTERFACE_BASE_HPP_ diff --git a/src/nebula_core/nebula_core_ros/include/nebula_core_ros/diagnostics/hysteresis_state_machine.hpp b/src/nebula_core/nebula_core_ros/include/nebula_core_ros/diagnostics/hysteresis_state_machine.hpp index cd9889c6e..11e63f2cb 100644 --- a/src/nebula_core/nebula_core_ros/include/nebula_core_ros/diagnostics/hysteresis_state_machine.hpp +++ b/src/nebula_core/nebula_core_ros/include/nebula_core_ros/diagnostics/hysteresis_state_machine.hpp @@ -14,8 +14,8 @@ // Copied from https://github.com/tier4/ros2_v4l2_camera/pull/37 -#ifndef HYSTERESIS_STATE_MACHINE_HPP_ -#define HYSTERESIS_STATE_MACHINE_HPP_ +#ifndef NEBULA_CORE_ROS__DIAGNOSTICS__HYSTERESIS_STATE_MACHINE_HPP_ +#define NEBULA_CORE_ROS__DIAGNOSTICS__HYSTERESIS_STATE_MACHINE_HPP_ #include @@ -192,4 +192,4 @@ to WARN until successive `num_frame_transition` WARNs are observed. } // namespace custom_diagnostic_tasks -#endif // HYSTERESIS_STATE_MACHINE_HPP_ +#endif // NEBULA_CORE_ROS__DIAGNOSTICS__HYSTERESIS_STATE_MACHINE_HPP_ diff --git a/src/nebula_core/nebula_core_ros/include/nebula_core_ros/diagnostics/rate_bound_status.hpp b/src/nebula_core/nebula_core_ros/include/nebula_core_ros/diagnostics/rate_bound_status.hpp index b9eae9223..d711ba00c 100644 --- a/src/nebula_core/nebula_core_ros/include/nebula_core_ros/diagnostics/rate_bound_status.hpp +++ b/src/nebula_core/nebula_core_ros/include/nebula_core_ros/diagnostics/rate_bound_status.hpp @@ -16,8 +16,8 @@ // Patched with https://github.com/tier4/ros2_v4l2_camera/pull/30 // Patched with https://github.com/tier4/ros2_v4l2_camera/pull/37 -#ifndef RATE_BOUND_STATUS_HPP_ -#define RATE_BOUND_STATUS_HPP_ +#ifndef NEBULA_CORE_ROS__DIAGNOSTICS__RATE_BOUND_STATUS_HPP_ +#define NEBULA_CORE_ROS__DIAGNOSTICS__RATE_BOUND_STATUS_HPP_ #include #include @@ -300,4 +300,4 @@ class RateBoundStatus : public diagnostic_updater::DiagnosticTask } // namespace custom_diagnostic_tasks -#endif // RATE_BOUND_STATUS_HPP_ +#endif // NEBULA_CORE_ROS__DIAGNOSTICS__RATE_BOUND_STATUS_HPP_ diff --git a/src/nebula_core/nebula_core_ros/schema/diagnostics.json b/src/nebula_core/nebula_core_ros/schema/diagnostics.json index f142ef15e..dc55ee899 100644 --- a/src/nebula_core/nebula_core_ros/schema/diagnostics.json +++ b/src/nebula_core/nebula_core_ros/schema/diagnostics.json @@ -21,9 +21,7 @@ "default": 10.5 } }, - "required": [ - "min_hz" - ] + "required": ["min_hz"] }, "frequency_warn": { "type": "object", @@ -40,9 +38,7 @@ "default": "11.0" } }, - "required": [ - "min_hz" - ] + "required": ["min_hz"] }, "num_frame_transition": { "type": "integer", @@ -51,10 +47,7 @@ "minimum": 1 } }, - "required": [ - "frequency_ok", - "frequency_warn" - ] + "required": ["frequency_ok", "frequency_warn"] }, "packet_loss_diagnostic_task": { "type": "object", diff --git a/src/nebula_core/nebula_core_ros/schema/example.schema.template.json b/src/nebula_core/nebula_core_ros/schema/example.schema.template.json index eef5ca4e2..7cb2669f2 100644 --- a/src/nebula_core/nebula_core_ros/schema/example.schema.template.json +++ b/src/nebula_core/nebula_core_ros/schema/example.schema.template.json @@ -53,14 +53,10 @@ "$ref": "#/definitions/" } }, - "required": [ - "ros__parameters" - ], + "required": ["ros__parameters"], "additionalProperties": false } }, - "required": [ - "/**" - ], + "required": ["/**"], "additionalProperties": false } diff --git a/src/nebula_core/nebula_core_ros/schema/misc.json b/src/nebula_core/nebula_core_ros/schema/misc.json index 1bc2c90d2..60e13fdd1 100644 --- a/src/nebula_core/nebula_core_ros/schema/misc.json +++ b/src/nebula_core/nebula_core_ros/schema/misc.json @@ -101,9 +101,7 @@ "default": "\"\"" } }, - "required": [ - "path" - ], + "required": ["path"], "additionalProperties": false } }, @@ -116,9 +114,7 @@ "type": "string" } }, - "required": [ - "topic" - ] + "required": ["topic"] } }, "$id": "nebula_ros_base/schema/misc.json" diff --git a/src/nebula_core/nebula_core_ros/schema/type_vendor.template.json b/src/nebula_core/nebula_core_ros/schema/type_vendor.template.json index 5e81c4f33..93b2d01d9 100644 --- a/src/nebula_core/nebula_core_ros/schema/type_vendor.template.json +++ b/src/nebula_core/nebula_core_ros/schema/type_vendor.template.json @@ -5,10 +5,7 @@ "definitions": { "sensor_model": { "$ref": "hardware.json#/definitions/sensor_model", - "enum": [ - "", - "" - ] + "enum": ["", ""] }, "example_parameter_1": { "type": "integer", diff --git a/src/nebula_hesai/nebula_hesai/examples/hesai_ros_offline_extract_bag_pcd.hpp b/src/nebula_hesai/nebula_hesai/examples/hesai_ros_offline_extract_bag_pcd.hpp index 5397f419e..7bc13bdaf 100644 --- a/src/nebula_hesai/nebula_hesai/examples/hesai_ros_offline_extract_bag_pcd.hpp +++ b/src/nebula_hesai/nebula_hesai/examples/hesai_ros_offline_extract_bag_pcd.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef NEBULA_HesaiRosOfflineExtractBag_H -#define NEBULA_HesaiRosOfflineExtractBag_H +#ifndef NEBULA_HESAI__NEBULA_HESAI__EXAMPLES__HESAI_ROS_OFFLINE_EXTRACT_BAG_PCD_HPP_ +#define NEBULA_HESAI__NEBULA_HESAI__EXAMPLES__HESAI_ROS_OFFLINE_EXTRACT_BAG_PCD_HPP_ #include #include @@ -84,4 +84,4 @@ class HesaiRosOfflineExtractBag final : public rclcpp::Node } // namespace nebula::ros -#endif // NEBULA_HesaiRosOfflineExtractBag_H +#endif // NEBULA_HESAI__NEBULA_HESAI__EXAMPLES__HESAI_ROS_OFFLINE_EXTRACT_BAG_PCD_HPP_ diff --git a/src/nebula_hesai/nebula_hesai/examples/hesai_ros_offline_extract_pcd.hpp b/src/nebula_hesai/nebula_hesai/examples/hesai_ros_offline_extract_pcd.hpp index 433e3f71b..e556c339d 100644 --- a/src/nebula_hesai/nebula_hesai/examples/hesai_ros_offline_extract_pcd.hpp +++ b/src/nebula_hesai/nebula_hesai/examples/hesai_ros_offline_extract_pcd.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef NEBULA_HesaiRosOfflineExtractSample_H -#define NEBULA_HesaiRosOfflineExtractSample_H +#ifndef NEBULA_HESAI__NEBULA_HESAI__EXAMPLES__HESAI_ROS_OFFLINE_EXTRACT_PCD_HPP_ +#define NEBULA_HESAI__NEBULA_HESAI__EXAMPLES__HESAI_ROS_OFFLINE_EXTRACT_PCD_HPP_ #include #include @@ -90,4 +90,4 @@ class HesaiRosOfflineExtractSample final : public rclcpp::Node } // namespace nebula::ros -#endif // NEBULA_HesaiRosOfflineExtractSample_H +#endif // NEBULA_HESAI__NEBULA_HESAI__EXAMPLES__HESAI_ROS_OFFLINE_EXTRACT_PCD_HPP_ diff --git a/src/nebula_hesai/nebula_hesai/schema/Pandar128E4X.schema.json b/src/nebula_hesai/nebula_hesai/schema/Pandar128E4X.schema.json index bcd2f363f..b3157629e 100644 --- a/src/nebula_hesai/nebula_hesai/schema/Pandar128E4X.schema.json +++ b/src/nebula_hesai/nebula_hesai/schema/Pandar128E4X.schema.json @@ -62,9 +62,7 @@ }, "sensor_model": { "$ref": "lidar_hesai.json#/definitions/sensor_model", - "enum": [ - "Pandar128E4X" - ] + "enum": ["Pandar128E4X"] }, "calibration_file": { "$ref": "lidar_hesai.json#/definitions/calibration_file" @@ -89,18 +87,14 @@ }, "ptp_profile": { "$ref": "lidar_hesai.json#/definitions/ptp_profile", - "enum": [ - "automotive" - ] + "enum": ["automotive"] }, "ptp_domain": { "$ref": "lidar_hesai.json#/definitions/ptp_domain" }, "ptp_transport_type": { "$ref": "lidar_hesai.json#/definitions/ptp_transport_type", - "enum": [ - "L2" - ] + "enum": ["L2"] }, "ptp_switch_type": { "$ref": "lidar_hesai.json#/definitions/ptp_switch_type" @@ -125,10 +119,7 @@ }, "diagnostics": { "$ref": "lidar_hesai.json#/definitions/diagnostics", - "required": [ - "pointcloud_publish_rate", - "packet_loss" - ] + "required": ["pointcloud_publish_rate", "packet_loss"] }, "sync_diagnostics": { "$ref": "../../../nebula_core/nebula_core_ros/schema/misc.json#/definitions/sync_diagnostics" @@ -177,13 +168,9 @@ }, "additionalProperties": false }, - "required": [ - "ros__parameters" - ] + "required": ["ros__parameters"] } }, - "required": [ - "/**" - ], + "required": ["/**"], "additionalProperties": false } diff --git a/src/nebula_hesai/nebula_hesai/schema/Pandar40P.schema.json b/src/nebula_hesai/nebula_hesai/schema/Pandar40P.schema.json index 2f3276568..dd53fab25 100644 --- a/src/nebula_hesai/nebula_hesai/schema/Pandar40P.schema.json +++ b/src/nebula_hesai/nebula_hesai/schema/Pandar40P.schema.json @@ -62,9 +62,7 @@ }, "sensor_model": { "$ref": "lidar_hesai.json#/definitions/sensor_model", - "enum": [ - "Pandar40P" - ] + "enum": ["Pandar40P"] }, "calibration_file": { "$ref": "lidar_hesai.json#/definitions/calibration_file" @@ -77,12 +75,7 @@ }, "return_mode": { "$ref": "../../../nebula_core/nebula_core_ros/schema/misc.json#/definitions/return_mode", - "enum": [ - "Last", - "Strongest", - "LastStrongest", - "Dual" - ] + "enum": ["Last", "Strongest", "LastStrongest", "Dual"] }, "ptp_profile": { "$ref": "lidar_hesai.json#/definitions/ptp_profile" @@ -110,10 +103,7 @@ }, "diagnostics": { "$ref": "lidar_hesai.json#/definitions/diagnostics", - "required": [ - "pointcloud_publish_rate", - "packet_loss" - ] + "required": ["pointcloud_publish_rate", "packet_loss"] }, "sync_diagnostics": { "$ref": "../../../nebula_core/nebula_core_ros/schema/misc.json#/definitions/sync_diagnostics" @@ -162,13 +152,9 @@ }, "additionalProperties": false }, - "required": [ - "ros__parameters" - ] + "required": ["ros__parameters"] } }, - "required": [ - "/**" - ], + "required": ["/**"], "additionalProperties": false } diff --git a/src/nebula_hesai/nebula_hesai/schema/Pandar64.schema.json b/src/nebula_hesai/nebula_hesai/schema/Pandar64.schema.json index 9501dd773..71025a9db 100644 --- a/src/nebula_hesai/nebula_hesai/schema/Pandar64.schema.json +++ b/src/nebula_hesai/nebula_hesai/schema/Pandar64.schema.json @@ -62,9 +62,7 @@ }, "sensor_model": { "$ref": "lidar_hesai.json#/definitions/sensor_model", - "enum": [ - "Pandar64" - ] + "enum": ["Pandar64"] }, "calibration_file": { "$ref": "lidar_hesai.json#/definitions/calibration_file" @@ -77,12 +75,7 @@ }, "return_mode": { "$ref": "../../../nebula_core/nebula_core_ros/schema/misc.json#/definitions/return_mode", - "enum": [ - "Last", - "Strongest", - "LastStrongest", - "Dual" - ] + "enum": ["Last", "Strongest", "LastStrongest", "Dual"] }, "ptp_profile": { "$ref": "lidar_hesai.json#/definitions/ptp_profile" @@ -110,10 +103,7 @@ }, "diagnostics": { "$ref": "lidar_hesai.json#/definitions/diagnostics", - "required": [ - "pointcloud_publish_rate", - "packet_loss" - ] + "required": ["pointcloud_publish_rate", "packet_loss"] }, "sync_diagnostics": { "$ref": "../../../nebula_core/nebula_core_ros/schema/misc.json#/definitions/sync_diagnostics" @@ -162,13 +152,9 @@ }, "additionalProperties": false }, - "required": [ - "ros__parameters" - ] + "required": ["ros__parameters"] } }, - "required": [ - "/**" - ], + "required": ["/**"], "additionalProperties": false } diff --git a/src/nebula_hesai/nebula_hesai/schema/PandarAT128.schema.json b/src/nebula_hesai/nebula_hesai/schema/PandarAT128.schema.json index 04cc70452..bbab3fb64 100644 --- a/src/nebula_hesai/nebula_hesai/schema/PandarAT128.schema.json +++ b/src/nebula_hesai/nebula_hesai/schema/PandarAT128.schema.json @@ -77,9 +77,7 @@ }, "sensor_model": { "$ref": "lidar_hesai.json#/definitions/sensor_model", - "enum": [ - "PandarAT128" - ] + "enum": ["PandarAT128"] }, "calibration_file": { "$ref": "lidar_hesai.json#/definitions/calibration_file" @@ -90,19 +88,11 @@ "rotation_speed": { "$ref": "../../../nebula_core/nebula_core_ros/schema/hardware.json#/definitions/rotation_speed", "default": "200", - "enum": [ - 200, - 400 - ] + "enum": [200, 400] }, "return_mode": { "$ref": "../../../nebula_core/nebula_core_ros/schema/misc.json#/definitions/return_mode", - "enum": [ - "Last", - "Strongest", - "LastStrongest", - "Dual" - ] + "enum": ["Last", "Strongest", "LastStrongest", "Dual"] }, "ptp_profile": { "$ref": "lidar_hesai.json#/definitions/ptp_profile" @@ -130,10 +120,7 @@ }, "diagnostics": { "$ref": "lidar_hesai.json#/definitions/diagnostics", - "required": [ - "pointcloud_publish_rate", - "packet_loss" - ] + "required": ["pointcloud_publish_rate", "packet_loss"] }, "sync_diagnostics": { "$ref": "../../../nebula_core/nebula_core_ros/schema/misc.json#/definitions/sync_diagnostics" @@ -183,13 +170,9 @@ }, "additionalProperties": false }, - "required": [ - "ros__parameters" - ] + "required": ["ros__parameters"] } }, - "required": [ - "/**" - ], + "required": ["/**"], "additionalProperties": false } diff --git a/src/nebula_hesai/nebula_hesai/schema/PandarQT128.schema.json b/src/nebula_hesai/nebula_hesai/schema/PandarQT128.schema.json index 52cc178e8..c58caafab 100644 --- a/src/nebula_hesai/nebula_hesai/schema/PandarQT128.schema.json +++ b/src/nebula_hesai/nebula_hesai/schema/PandarQT128.schema.json @@ -62,9 +62,7 @@ }, "sensor_model": { "$ref": "lidar_hesai.json#/definitions/sensor_model", - "enum": [ - "PandarQT128" - ] + "enum": ["PandarQT128"] }, "calibration_file": { "$ref": "lidar_hesai.json#/definitions/calibration_file" @@ -113,10 +111,7 @@ }, "diagnostics": { "$ref": "lidar_hesai.json#/definitions/diagnostics", - "required": [ - "pointcloud_publish_rate", - "packet_loss" - ] + "required": ["pointcloud_publish_rate", "packet_loss"] }, "sync_diagnostics": { "$ref": "../../../nebula_core/nebula_core_ros/schema/misc.json#/definitions/sync_diagnostics" @@ -165,13 +160,9 @@ }, "additionalProperties": false }, - "required": [ - "ros__parameters" - ] + "required": ["ros__parameters"] } }, - "required": [ - "/**" - ], + "required": ["/**"], "additionalProperties": false } diff --git a/src/nebula_hesai/nebula_hesai/schema/PandarQT64.schema.json b/src/nebula_hesai/nebula_hesai/schema/PandarQT64.schema.json index ca2672494..3a7b2689e 100644 --- a/src/nebula_hesai/nebula_hesai/schema/PandarQT64.schema.json +++ b/src/nebula_hesai/nebula_hesai/schema/PandarQT64.schema.json @@ -62,9 +62,7 @@ }, "sensor_model": { "$ref": "lidar_hesai.json#/definitions/sensor_model", - "enum": [ - "PandarQT64" - ] + "enum": ["PandarQT64"] }, "calibration_file": { "$ref": "lidar_hesai.json#/definitions/calibration_file" @@ -77,12 +75,7 @@ }, "return_mode": { "$ref": "../../../nebula_core/nebula_core_ros/schema/misc.json#/definitions/return_mode", - "enum": [ - "Last", - "First", - "LastFirst", - "Dual" - ] + "enum": ["Last", "First", "LastFirst", "Dual"] }, "ptp_profile": { "$ref": "lidar_hesai.json#/definitions/ptp_profile" @@ -110,9 +103,7 @@ }, "diagnostics": { "$ref": "lidar_hesai.json#/definitions/diagnostics", - "required": [ - "pointcloud_publish_rate" - ] + "required": ["pointcloud_publish_rate"] }, "sync_diagnostics": { "$ref": "../../../nebula_core/nebula_core_ros/schema/misc.json#/definitions/sync_diagnostics" @@ -161,13 +152,9 @@ }, "additionalProperties": false }, - "required": [ - "ros__parameters" - ] + "required": ["ros__parameters"] } }, - "required": [ - "/**" - ], + "required": ["/**"], "additionalProperties": false } diff --git a/src/nebula_hesai/nebula_hesai/schema/PandarXT16.schema.json b/src/nebula_hesai/nebula_hesai/schema/PandarXT16.schema.json index 7e94ecac5..4678e6e95 100644 --- a/src/nebula_hesai/nebula_hesai/schema/PandarXT16.schema.json +++ b/src/nebula_hesai/nebula_hesai/schema/PandarXT16.schema.json @@ -62,9 +62,7 @@ }, "sensor_model": { "$ref": "lidar_hesai.json#/definitions/sensor_model", - "enum": [ - "PandarXT16" - ] + "enum": ["PandarXT16"] }, "calibration_file": { "$ref": "lidar_hesai.json#/definitions/calibration_file" @@ -110,9 +108,7 @@ }, "diagnostics": { "$ref": "lidar_hesai.json#/definitions/diagnostics", - "required": [ - "pointcloud_publish_rate" - ] + "required": ["pointcloud_publish_rate"] } }, "required": [ @@ -158,13 +154,9 @@ }, "additionalProperties": false }, - "required": [ - "ros__parameters" - ] + "required": ["ros__parameters"] } }, - "required": [ - "/**" - ], + "required": ["/**"], "additionalProperties": false } diff --git a/src/nebula_hesai/nebula_hesai/schema/PandarXT32.schema.json b/src/nebula_hesai/nebula_hesai/schema/PandarXT32.schema.json index 4cd48e270..45177ee2a 100644 --- a/src/nebula_hesai/nebula_hesai/schema/PandarXT32.schema.json +++ b/src/nebula_hesai/nebula_hesai/schema/PandarXT32.schema.json @@ -62,9 +62,7 @@ }, "sensor_model": { "$ref": "lidar_hesai.json#/definitions/sensor_model", - "enum": [ - "PandarXT32" - ] + "enum": ["PandarXT32"] }, "calibration_file": { "$ref": "lidar_hesai.json#/definitions/calibration_file" @@ -113,9 +111,7 @@ }, "diagnostics": { "$ref": "lidar_hesai.json#/definitions/diagnostics", - "required": [ - "pointcloud_publish_rate" - ] + "required": ["pointcloud_publish_rate"] }, "sync_diagnostics": { "$ref": "../../../nebula_core/nebula_core_ros/schema/misc.json#/definitions/sync_diagnostics" @@ -164,13 +160,9 @@ }, "additionalProperties": false }, - "required": [ - "ros__parameters" - ] + "required": ["ros__parameters"] } }, - "required": [ - "/**" - ], + "required": ["/**"], "additionalProperties": false } diff --git a/src/nebula_hesai/nebula_hesai/schema/PandarXT32M.schema.json b/src/nebula_hesai/nebula_hesai/schema/PandarXT32M.schema.json index 605840d50..375595c75 100644 --- a/src/nebula_hesai/nebula_hesai/schema/PandarXT32M.schema.json +++ b/src/nebula_hesai/nebula_hesai/schema/PandarXT32M.schema.json @@ -62,9 +62,7 @@ }, "sensor_model": { "$ref": "lidar_hesai.json#/definitions/sensor_model", - "enum": [ - "PandarXT32M" - ] + "enum": ["PandarXT32M"] }, "calibration_file": { "$ref": "lidar_hesai.json#/definitions/calibration_file" @@ -113,9 +111,7 @@ }, "diagnostics": { "$ref": "lidar_hesai.json#/definitions/diagnostics", - "required": [ - "pointcloud_publish_rate" - ] + "required": ["pointcloud_publish_rate"] }, "sync_diagnostics": { "$ref": "../../../nebula_core/nebula_core_ros/schema/misc.json#/definitions/sync_diagnostics" @@ -164,13 +160,9 @@ }, "additionalProperties": false }, - "required": [ - "ros__parameters" - ] + "required": ["ros__parameters"] } }, - "required": [ - "/**" - ], + "required": ["/**"], "additionalProperties": false } diff --git a/src/nebula_hesai/nebula_hesai/schema/lidar_hesai.json b/src/nebula_hesai/nebula_hesai/schema/lidar_hesai.json index b020f4a64..1fb4dcd08 100644 --- a/src/nebula_hesai/nebula_hesai/schema/lidar_hesai.json +++ b/src/nebula_hesai/nebula_hesai/schema/lidar_hesai.json @@ -51,11 +51,7 @@ "ptp_profile": { "type": "string", "default": "1588v2", - "enum": [ - "1588v2", - "802.1as", - "automotive" - ], + "enum": ["1588v2", "802.1as", "automotive"], "description": "PTP profile." }, "ptp_domain": { @@ -68,19 +64,13 @@ "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": { @@ -136,10 +126,7 @@ "properties": { "mode": { "type": "string", - "enum": [ - "basic", - "advanced" - ], + "enum": ["basic", "advanced"], "default": "basic", "description": "Functional safety diagnostic mode" }, @@ -158,9 +145,7 @@ "description": "List of error codes to ignore in hexadecimal format" } }, - "required": [ - "mode" - ], + "required": ["mode"], "allOf": [ { "if": { @@ -171,9 +156,7 @@ } }, "then": { - "required": [ - "error_definitions_path" - ] + "required": ["error_definitions_path"] } } ] diff --git a/src/nebula_hesai/nebula_hesai/tests/hesai_ros_decoder_test.hpp b/src/nebula_hesai/nebula_hesai/tests/hesai_ros_decoder_test.hpp index a8999ff45..aed2ba4ef 100644 --- a/src/nebula_hesai/nebula_hesai/tests/hesai_ros_decoder_test.hpp +++ b/src/nebula_hesai/nebula_hesai/tests/hesai_ros_decoder_test.hpp @@ -27,13 +27,13 @@ #include #include -#ifndef _SRC_CALIBRATION_DIR_PATH -#define _SRC_CALIBRATION_DIR_PATH "" +#ifndef NEBULA_HESAI__NEBULA_HESAI__TESTS__HESAI_ROS_DECODER_TEST_HPP_ +#define NEBULA_HESAI__NEBULA_HESAI__TESTS__HESAI_ROS_DECODER_TEST_HPP_ #endif #ifndef _SRC_RESOURCES_DIR_PATH #define _SRC_RESOURCES_DIR_PATH "" -#endif +#endif // NEBULA_HESAI__NEBULA_HESAI__TESTS__HESAI_ROS_DECODER_TEST_HPP_ namespace nebula::ros { diff --git a/src/nebula_hesai/nebula_hesai_common/include/nebula_hesai_common/hesai_common.hpp b/src/nebula_hesai/nebula_hesai_common/include/nebula_hesai_common/hesai_common.hpp index 8945572a2..ab67f829f 100644 --- a/src/nebula_hesai/nebula_hesai_common/include/nebula_hesai_common/hesai_common.hpp +++ b/src/nebula_hesai/nebula_hesai_common/include/nebula_hesai_common/hesai_common.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef NEBULA_HESAI_COMMON_H -#define NEBULA_HESAI_COMMON_H +#ifndef NEBULA_HESAI_COMMON__HESAI_COMMON_HPP_ +#define NEBULA_HESAI_COMMON__HESAI_COMMON_HPP_ #include "nebula_core_common/nebula_common.hpp" #include "nebula_core_common/nebula_status.hpp" @@ -805,4 +805,4 @@ inline bool supports_blockage_mask(const SensorModel & sensor_model) } // namespace drivers } // namespace nebula -#endif // NEBULA_HESAI_COMMON_H +#endif // NEBULA_HESAI_COMMON__HESAI_COMMON_HPP_ diff --git a/src/nebula_hesai/nebula_hesai_common/include/nebula_hesai_common/hesai_status.hpp b/src/nebula_hesai/nebula_hesai_common/include/nebula_hesai_common/hesai_status.hpp index 57b2cad65..a80256068 100644 --- a/src/nebula_hesai/nebula_hesai_common/include/nebula_hesai_common/hesai_status.hpp +++ b/src/nebula_hesai/nebula_hesai_common/include/nebula_hesai_common/hesai_status.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef HESAI_STATUS_HPP -#define HESAI_STATUS_HPP +#ifndef NEBULA_HESAI_COMMON__HESAI_STATUS_HPP_ +#define NEBULA_HESAI_COMMON__HESAI_STATUS_HPP_ #include "nebula_core_common/nebula_status.hpp" @@ -80,4 +80,4 @@ struct HesaiStatus : Status } }; } // namespace nebula -#endif // HESAI_STATUS_HPP +#endif // NEBULA_HESAI_COMMON__HESAI_STATUS_HPP_ diff --git a/src/nebula_hesai/nebula_hesai_decoders/include/nebula_hesai_decoders/decoders/hesai_scan_decoder.hpp b/src/nebula_hesai/nebula_hesai_decoders/include/nebula_hesai_decoders/decoders/hesai_scan_decoder.hpp index 3325cc70a..655b40714 100644 --- a/src/nebula_hesai/nebula_hesai_decoders/include/nebula_hesai_decoders/decoders/hesai_scan_decoder.hpp +++ b/src/nebula_hesai/nebula_hesai_decoders/include/nebula_hesai_decoders/decoders/hesai_scan_decoder.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef NEBULA_WS_HESAI_SCAN_DECODER_HPP -#define NEBULA_WS_HESAI_SCAN_DECODER_HPP +#ifndef NEBULA_HESAI_DECODERS__DECODERS__HESAI_SCAN_DECODER_HPP_ +#define NEBULA_HESAI_DECODERS__DECODERS__HESAI_SCAN_DECODER_HPP_ #include #include @@ -79,4 +79,4 @@ class HesaiScanDecoder }; } // namespace nebula::drivers -#endif // NEBULA_WS_HESAI_SCAN_DECODER_HPP +#endif // NEBULA_HESAI_DECODERS__DECODERS__HESAI_SCAN_DECODER_HPP_ diff --git a/src/nebula_hesai/nebula_hesai_decoders/include/nebula_hesai_decoders/hesai_driver.hpp b/src/nebula_hesai/nebula_hesai_decoders/include/nebula_hesai_decoders/hesai_driver.hpp index 49b94302b..b0087016a 100644 --- a/src/nebula_hesai/nebula_hesai_decoders/include/nebula_hesai_decoders/hesai_driver.hpp +++ b/src/nebula_hesai/nebula_hesai_decoders/include/nebula_hesai_decoders/hesai_driver.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef NEBULA_HESAI_DRIVER_H -#define NEBULA_HESAI_DRIVER_H +#ifndef NEBULA_HESAI_DECODERS__HESAI_DRIVER_HPP_ +#define NEBULA_HESAI_DECODERS__HESAI_DRIVER_HPP_ #include "nebula_core_common/nebula_status.hpp" #include "nebula_core_common/point_types.hpp" @@ -143,4 +143,4 @@ class HesaiDriver } // namespace nebula::drivers -#endif // NEBULA_HESAI_DRIVER_H +#endif // NEBULA_HESAI_DECODERS__HESAI_DRIVER_HPP_ diff --git a/src/nebula_hesai/nebula_hesai_hw_interfaces/include/nebula_hesai_hw_interfaces/hesai_cmd_response.hpp b/src/nebula_hesai/nebula_hesai_hw_interfaces/include/nebula_hesai_hw_interfaces/hesai_cmd_response.hpp index 0bb2e2e4d..1ee1bde87 100644 --- a/src/nebula_hesai/nebula_hesai_hw_interfaces/include/nebula_hesai_hw_interfaces/hesai_cmd_response.hpp +++ b/src/nebula_hesai/nebula_hesai_hw_interfaces/include/nebula_hesai_hw_interfaces/hesai_cmd_response.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef HESAI_CMD_RESPONSE_HPP -#define HESAI_CMD_RESPONSE_HPP +#ifndef NEBULA_HESAI_HW_INTERFACES__HESAI_CMD_RESPONSE_HPP_ +#define NEBULA_HESAI_HW_INTERFACES__HESAI_CMD_RESPONSE_HPP_ #include #include @@ -1002,4 +1002,4 @@ inline std::ostream & operator<<(std::ostream & os, const HesaiLidarMonitor & ar #pragma pack(pop) } // namespace nebula -#endif // HESAI_CMD_RESPONSE_HPP +#endif // NEBULA_HESAI_HW_INTERFACES__HESAI_CMD_RESPONSE_HPP_ diff --git a/src/nebula_hesai/nebula_hesai_hw_interfaces/include/nebula_hesai_hw_interfaces/hesai_hw_interface.hpp b/src/nebula_hesai/nebula_hesai_hw_interfaces/include/nebula_hesai_hw_interfaces/hesai_hw_interface.hpp index a737cfc2d..a36384806 100644 --- a/src/nebula_hesai/nebula_hesai_hw_interfaces/include/nebula_hesai_hw_interfaces/hesai_hw_interface.hpp +++ b/src/nebula_hesai/nebula_hesai_hw_interfaces/include/nebula_hesai_hw_interfaces/hesai_hw_interface.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef NEBULA_HESAI_HW_INTERFACE_H -#define NEBULA_HESAI_HW_INTERFACE_H +#ifndef NEBULA_HESAI_HW_INTERFACES__HESAI_HW_INTERFACE_HPP_ +#define NEBULA_HESAI_HW_INTERFACES__HESAI_HW_INTERFACE_HPP_ // Have to define macros to silence warnings about deprecated headers being used by // boost/property_tree/ in some versions of boost. // See: https://github.com/boostorg/property_tree/issues/51 @@ -432,4 +432,4 @@ class HesaiHwInterface }; } // namespace nebula::drivers -#endif // NEBULA_HESAI_HW_INTERFACE_H +#endif // NEBULA_HESAI_HW_INTERFACES__HESAI_HW_INTERFACE_HPP_ diff --git a/src/nebula_robosense/nebula_robosense/schema/Bpearl.schema.json b/src/nebula_robosense/nebula_robosense/schema/Bpearl.schema.json index a36e7b95a..e607d4b51 100644 --- a/src/nebula_robosense/nebula_robosense/schema/Bpearl.schema.json +++ b/src/nebula_robosense/nebula_robosense/schema/Bpearl.schema.json @@ -47,9 +47,7 @@ }, "sensor_model": { "$ref": "lidar_robosense.json#/definitions/sensor_model", - "enum": [ - "Bpearl" - ] + "enum": ["Bpearl"] }, "return_mode": { "$ref": "lidar_robosense.json#/definitions/return_mode" @@ -83,14 +81,10 @@ "$ref": "#/definitions/Bpearl" } }, - "required": [ - "ros__parameters" - ], + "required": ["ros__parameters"], "additionalProperties": false } }, - "required": [ - "/**" - ], + "required": ["/**"], "additionalProperties": false } diff --git a/src/nebula_robosense/nebula_robosense/schema/Helios.schema.json b/src/nebula_robosense/nebula_robosense/schema/Helios.schema.json index b72dffcd2..3a5be81b6 100644 --- a/src/nebula_robosense/nebula_robosense/schema/Helios.schema.json +++ b/src/nebula_robosense/nebula_robosense/schema/Helios.schema.json @@ -47,9 +47,7 @@ }, "sensor_model": { "$ref": "lidar_robosense.json#/definitions/sensor_model", - "enum": [ - "Helios" - ] + "enum": ["Helios"] }, "return_mode": { "$ref": "lidar_robosense.json#/definitions/return_mode" @@ -83,14 +81,10 @@ "$ref": "#/definitions/Helios" } }, - "required": [ - "ros__parameters" - ], + "required": ["ros__parameters"], "additionalProperties": false } }, - "required": [ - "/**" - ], + "required": ["/**"], "additionalProperties": false } diff --git a/src/nebula_robosense/nebula_robosense/schema/lidar_robosense.json b/src/nebula_robosense/nebula_robosense/schema/lidar_robosense.json index ba3ea084c..39e907b93 100644 --- a/src/nebula_robosense/nebula_robosense/schema/lidar_robosense.json +++ b/src/nebula_robosense/nebula_robosense/schema/lidar_robosense.json @@ -5,19 +5,11 @@ "definitions": { "sensor_model": { "$ref": "../../../nebula_core/nebula_core_ros/schema/hardware.json#/definitions/sensor_model", - "enum": [ - "Helios", - "Bpearl" - ] + "enum": ["Helios", "Bpearl"] }, "return_mode": { "$ref": "../../../nebula_core/nebula_core_ros/schema/misc.json#/definitions/return_mode", - "enum": [ - "Dual", - "Strongest", - "Last", - "First" - ] + "enum": ["Dual", "Strongest", "Last", "First"] } }, "$id": "nebula_robosense/schema/lidar_robosense.json" diff --git a/src/nebula_velodyne/nebula_velodyne/examples/velodyne_ros_offline_extract_bag_pcd.hpp b/src/nebula_velodyne/nebula_velodyne/examples/velodyne_ros_offline_extract_bag_pcd.hpp index ea37d204a..b8f4090ba 100644 --- a/src/nebula_velodyne/nebula_velodyne/examples/velodyne_ros_offline_extract_bag_pcd.hpp +++ b/src/nebula_velodyne/nebula_velodyne/examples/velodyne_ros_offline_extract_bag_pcd.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef NEBULA_VelodyneRosOfflineExtractBag_H -#define NEBULA_VelodyneRosOfflineExtractBag_H +#ifndef NEBULA_VELODYNE__NEBULA_VELODYNE__EXAMPLES__VELODYNE_ROS_OFFLINE_EXTRACT_BAG_PCD_HPP_ +#define NEBULA_VELODYNE__NEBULA_VELODYNE__EXAMPLES__VELODYNE_ROS_OFFLINE_EXTRACT_BAG_PCD_HPP_ #include "nebula_core_common/nebula_status.hpp" #include "nebula_velodyne_common/velodyne_common.hpp" @@ -87,4 +87,4 @@ class VelodyneRosOfflineExtractBag final : public rclcpp::Node } // namespace nebula::ros -#endif // NEBULA_VelodyneRosOfflineExtractBag_H +#endif // NEBULA_VELODYNE__NEBULA_VELODYNE__EXAMPLES__VELODYNE_ROS_OFFLINE_EXTRACT_BAG_PCD_HPP_ diff --git a/src/nebula_velodyne/nebula_velodyne/schema/VLP16.schema.json b/src/nebula_velodyne/nebula_velodyne/schema/VLP16.schema.json index 675383417..3c6d0520b 100644 --- a/src/nebula_velodyne/nebula_velodyne/schema/VLP16.schema.json +++ b/src/nebula_velodyne/nebula_velodyne/schema/VLP16.schema.json @@ -56,9 +56,7 @@ }, "sensor_model": { "$ref": "lidar_velodyne.json#/definitions/sensor_model", - "enum": [ - "VLP16" - ] + "enum": ["VLP16"] }, "calibration_file": { "$ref": "lidar_velodyne.json#/definitions/calibration_file" @@ -103,14 +101,10 @@ "$ref": "#/definitions/VLP16" } }, - "required": [ - "ros__parameters" - ], + "required": ["ros__parameters"], "additionalProperties": false } }, - "required": [ - "/**" - ], + "required": ["/**"], "additionalProperties": false } diff --git a/src/nebula_velodyne/nebula_velodyne/schema/VLP32.schema.json b/src/nebula_velodyne/nebula_velodyne/schema/VLP32.schema.json index 9cfdfc64b..d5407e633 100644 --- a/src/nebula_velodyne/nebula_velodyne/schema/VLP32.schema.json +++ b/src/nebula_velodyne/nebula_velodyne/schema/VLP32.schema.json @@ -56,9 +56,7 @@ }, "sensor_model": { "$ref": "lidar_velodyne.json#/definitions/sensor_model", - "enum": [ - "VLP32" - ] + "enum": ["VLP32"] }, "calibration_file": { "$ref": "lidar_velodyne.json#/definitions/calibration_file" @@ -104,13 +102,9 @@ }, "additionalProperties": false }, - "required": [ - "ros__parameters" - ] + "required": ["ros__parameters"] } }, - "required": [ - "/**" - ], + "required": ["/**"], "additionalProperties": false } diff --git a/src/nebula_velodyne/nebula_velodyne/schema/VLS128.schema.json b/src/nebula_velodyne/nebula_velodyne/schema/VLS128.schema.json index 92ed3721d..c1807bc93 100644 --- a/src/nebula_velodyne/nebula_velodyne/schema/VLS128.schema.json +++ b/src/nebula_velodyne/nebula_velodyne/schema/VLS128.schema.json @@ -56,9 +56,7 @@ }, "sensor_model": { "$ref": "lidar_velodyne.json#/definitions/sensor_model", - "enum": [ - "VLS128" - ] + "enum": ["VLS128"] }, "calibration_file": { "$ref": "lidar_velodyne.json#/definitions/calibration_file" @@ -104,13 +102,9 @@ }, "additionalProperties": false }, - "required": [ - "ros__parameters" - ] + "required": ["ros__parameters"] } }, - "required": [ - "/**" - ], + "required": ["/**"], "additionalProperties": false } diff --git a/src/nebula_velodyne/nebula_velodyne/schema/lidar_velodyne.json b/src/nebula_velodyne/nebula_velodyne/schema/lidar_velodyne.json index 81b25a2e2..f0d614a39 100644 --- a/src/nebula_velodyne/nebula_velodyne/schema/lidar_velodyne.json +++ b/src/nebula_velodyne/nebula_velodyne/schema/lidar_velodyne.json @@ -5,11 +5,7 @@ "definitions": { "sensor_model": { "$ref": "../../../nebula_core/nebula_core_ros/schema/hardware.json#/definitions/sensor_model", - "enum": [ - "VLP16", - "VLP32", - "VLS128" - ] + "enum": ["VLP16", "VLP32", "VLS128"] }, "calibration_file": { "$ref": "../../../nebula_core/nebula_core_ros/schema/misc.json#/definitions/calibration_file", @@ -17,12 +13,7 @@ }, "return_mode": { "$ref": "../../../nebula_core/nebula_core_ros/schema/misc.json#/definitions/return_mode", - "enum": [ - "SingleStrongest", - "SingleLast", - "Dual", - "SingleFirst" - ] + "enum": ["SingleStrongest", "SingleLast", "Dual", "SingleFirst"] }, "rotation_speed": { "$ref": "../../../nebula_core/nebula_core_ros/schema/hardware.json#/definitions/rotation_speed", diff --git a/src/nebula_velodyne/nebula_velodyne/tests/velodyne_ros_decoder_test_vlp16.hpp b/src/nebula_velodyne/nebula_velodyne/tests/velodyne_ros_decoder_test_vlp16.hpp index 4fd53382a..af7595485 100644 --- a/src/nebula_velodyne/nebula_velodyne/tests/velodyne_ros_decoder_test_vlp16.hpp +++ b/src/nebula_velodyne/nebula_velodyne/tests/velodyne_ros_decoder_test_vlp16.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef NEBULA_VelodyneRosDecoderTestVlp16_H -#define NEBULA_VelodyneRosDecoderTestVlp16_H +#ifndef NEBULA_VELODYNE__NEBULA_VELODYNE__TESTS__VELODYNE_ROS_DECODER_TEST_VLP16_HPP_ +#define NEBULA_VELODYNE__NEBULA_VELODYNE__TESTS__VELODYNE_ROS_DECODER_TEST_VLP16_HPP_ #include #include @@ -98,4 +98,4 @@ class VelodyneRosDecoderTest final : public rclcpp::Node } // namespace nebula::ros -#endif // NEBULA_VelodyneRosDecoderTestVlp16_H +#endif // NEBULA_VELODYNE__NEBULA_VELODYNE__TESTS__VELODYNE_ROS_DECODER_TEST_VLP16_HPP_ diff --git a/src/nebula_velodyne/nebula_velodyne/tests/velodyne_ros_decoder_test_vlp32.hpp b/src/nebula_velodyne/nebula_velodyne/tests/velodyne_ros_decoder_test_vlp32.hpp index 4fd53382a..8d3678798 100644 --- a/src/nebula_velodyne/nebula_velodyne/tests/velodyne_ros_decoder_test_vlp32.hpp +++ b/src/nebula_velodyne/nebula_velodyne/tests/velodyne_ros_decoder_test_vlp32.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef NEBULA_VelodyneRosDecoderTestVlp16_H -#define NEBULA_VelodyneRosDecoderTestVlp16_H +#ifndef NEBULA_VELODYNE__NEBULA_VELODYNE__TESTS__VELODYNE_ROS_DECODER_TEST_VLP32_HPP_ +#define NEBULA_VELODYNE__NEBULA_VELODYNE__TESTS__VELODYNE_ROS_DECODER_TEST_VLP32_HPP_ #include #include @@ -98,4 +98,4 @@ class VelodyneRosDecoderTest final : public rclcpp::Node } // namespace nebula::ros -#endif // NEBULA_VelodyneRosDecoderTestVlp16_H +#endif // NEBULA_VELODYNE__NEBULA_VELODYNE__TESTS__VELODYNE_ROS_DECODER_TEST_VLP32_HPP_ diff --git a/src/nebula_velodyne/nebula_velodyne/tests/velodyne_ros_decoder_test_vls128.hpp b/src/nebula_velodyne/nebula_velodyne/tests/velodyne_ros_decoder_test_vls128.hpp index 7705ced93..16ab00521 100644 --- a/src/nebula_velodyne/nebula_velodyne/tests/velodyne_ros_decoder_test_vls128.hpp +++ b/src/nebula_velodyne/nebula_velodyne/tests/velodyne_ros_decoder_test_vls128.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef NEBULA_VelodyneRosDecoderTestVls128_H -#define NEBULA_VelodyneRosDecoderTestVls128_H +#ifndef NEBULA_VELODYNE__NEBULA_VELODYNE__TESTS__VELODYNE_ROS_DECODER_TEST_VLS128_HPP_ +#define NEBULA_VELODYNE__NEBULA_VELODYNE__TESTS__VELODYNE_ROS_DECODER_TEST_VLS128_HPP_ #include #include @@ -72,4 +72,4 @@ class VelodyneRosDecoderTest final : public rclcpp::Node } // namespace nebula::ros -#endif // NEBULA_VelodyneRosDecoderTestVls128_H +#endif // NEBULA_VELODYNE__NEBULA_VELODYNE__TESTS__VELODYNE_ROS_DECODER_TEST_VLS128_HPP_ diff --git a/src/nebula_velodyne/nebula_velodyne_common/include/nebula_velodyne_common/velodyne_calibration_decoder.hpp b/src/nebula_velodyne/nebula_velodyne_common/include/nebula_velodyne_common/velodyne_calibration_decoder.hpp index 8d317d1f2..cc1faa8d0 100644 --- a/src/nebula_velodyne/nebula_velodyne_common/include/nebula_velodyne_common/velodyne_calibration_decoder.hpp +++ b/src/nebula_velodyne/nebula_velodyne_common/include/nebula_velodyne_common/velodyne_calibration_decoder.hpp @@ -9,8 +9,8 @@ * $ Id: 02/14/2012 11:25:34 AM piyushk $ */ -#ifndef NEBULA_VELODYNE_CALIBRATION_DECODER_H -#define NEBULA_VELODYNE_CALIBRATION_DECODER_H +#ifndef NEBULA_VELODYNE_COMMON__VELODYNE_CALIBRATION_DECODER_HPP_ +#define NEBULA_VELODYNE_COMMON__VELODYNE_CALIBRATION_DECODER_HPP_ #include @@ -68,4 +68,4 @@ class VelodyneCalibration } // namespace nebula::drivers -#endif // NEBULA_VELODYNE_CALIBRATION_DECODER_H +#endif // NEBULA_VELODYNE_COMMON__VELODYNE_CALIBRATION_DECODER_HPP_ diff --git a/src/nebula_velodyne/nebula_velodyne_common/include/nebula_velodyne_common/velodyne_common.hpp b/src/nebula_velodyne/nebula_velodyne_common/include/nebula_velodyne_common/velodyne_common.hpp index c05d1eb79..7d27905b1 100644 --- a/src/nebula_velodyne/nebula_velodyne_common/include/nebula_velodyne_common/velodyne_common.hpp +++ b/src/nebula_velodyne/nebula_velodyne_common/include/nebula_velodyne_common/velodyne_common.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef NEBULA_VELODYNE_COMMON_H -#define NEBULA_VELODYNE_COMMON_H +#ifndef NEBULA_VELODYNE_COMMON__VELODYNE_COMMON_HPP_ +#define NEBULA_VELODYNE_COMMON__VELODYNE_COMMON_HPP_ #include "nebula_core_common/nebula_common.hpp" #include "nebula_core_common/nebula_status.hpp" @@ -84,4 +84,4 @@ inline ReturnMode return_mode_from_string_velodyne(const std::string & return_mo } // namespace drivers } // namespace nebula -#endif // NEBULA_VELODYNE_COMMON_H +#endif // NEBULA_VELODYNE_COMMON__VELODYNE_COMMON_HPP_ diff --git a/src/nebula_velodyne/nebula_velodyne_common/include/nebula_velodyne_common/velodyne_status.hpp b/src/nebula_velodyne/nebula_velodyne_common/include/nebula_velodyne_common/velodyne_status.hpp index 06125f051..a1b8c94e0 100644 --- a/src/nebula_velodyne/nebula_velodyne_common/include/nebula_velodyne_common/velodyne_status.hpp +++ b/src/nebula_velodyne/nebula_velodyne_common/include/nebula_velodyne_common/velodyne_status.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef VELODYNE_STATUS_HPP -#define VELODYNE_STATUS_HPP +#ifndef NEBULA_VELODYNE_COMMON__VELODYNE_STATUS_HPP_ +#define NEBULA_VELODYNE_COMMON__VELODYNE_STATUS_HPP_ #include "nebula_core_common/nebula_status.hpp" @@ -126,4 +126,4 @@ struct VelodyneStatus : Status } }; } // namespace nebula -#endif // VELODYNE_STATUS_HPP +#endif // NEBULA_VELODYNE_COMMON__VELODYNE_STATUS_HPP_ diff --git a/src/nebula_velodyne/nebula_velodyne_decoders/calibration/HDL32.yaml b/src/nebula_velodyne/nebula_velodyne_decoders/calibration/HDL32.yaml index e276ec43e..7a0e6f6e4 100644 --- a/src/nebula_velodyne/nebula_velodyne_decoders/calibration/HDL32.yaml +++ b/src/nebula_velodyne/nebula_velodyne_decoders/calibration/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/src/nebula_velodyne/nebula_velodyne_decoders/calibration/HDL64e_s2.yaml b/src/nebula_velodyne/nebula_velodyne_decoders/calibration/HDL64e_s2.yaml index 8c1c190dc..3bc719cd0 100644 --- a/src/nebula_velodyne/nebula_velodyne_decoders/calibration/HDL64e_s2.yaml +++ b/src/nebula_velodyne/nebula_velodyne_decoders/calibration/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/src/nebula_velodyne/nebula_velodyne_decoders/calibration/HDL64e_s3.yaml b/src/nebula_velodyne/nebula_velodyne_decoders/calibration/HDL64e_s3.yaml index df8f54e11..a398407e9 100755 --- a/src/nebula_velodyne/nebula_velodyne_decoders/calibration/HDL64e_s3.yaml +++ b/src/nebula_velodyne/nebula_velodyne_decoders/calibration/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/src/nebula_velodyne/nebula_velodyne_decoders/calibration/HDL64e_utexas.yaml b/src/nebula_velodyne/nebula_velodyne_decoders/calibration/HDL64e_utexas.yaml index 6a6156031..3b474f225 100644 --- a/src/nebula_velodyne/nebula_velodyne_decoders/calibration/HDL64e_utexas.yaml +++ b/src/nebula_velodyne/nebula_velodyne_decoders/calibration/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: 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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: 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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/src/nebula_velodyne/nebula_velodyne_decoders/calibration/VLP16.yaml b/src/nebula_velodyne/nebula_velodyne_decoders/calibration/VLP16.yaml index e545e40a0..b2e57adca 100644 --- a/src/nebula_velodyne/nebula_velodyne_decoders/calibration/VLP16.yaml +++ b/src/nebula_velodyne/nebula_velodyne_decoders/calibration/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/src/nebula_velodyne/nebula_velodyne_decoders/calibration/VLP16_hires.yaml b/src/nebula_velodyne/nebula_velodyne_decoders/calibration/VLP16_hires.yaml index 9a8c97e63..1a9eb9b0a 100644 --- a/src/nebula_velodyne/nebula_velodyne_decoders/calibration/VLP16_hires.yaml +++ b/src/nebula_velodyne/nebula_velodyne_decoders/calibration/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/src/nebula_velodyne/nebula_velodyne_decoders/calibration/VLP32.yaml b/src/nebula_velodyne/nebula_velodyne_decoders/calibration/VLP32.yaml index 32e7681dc..de3ddd829 100644 --- a/src/nebula_velodyne/nebula_velodyne_decoders/calibration/VLP32.yaml +++ b/src/nebula_velodyne/nebula_velodyne_decoders/calibration/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/src/nebula_velodyne/nebula_velodyne_decoders/calibration/VLP32MR.yaml b/src/nebula_velodyne/nebula_velodyne_decoders/calibration/VLP32MR.yaml index 32e7681dc..de3ddd829 100644 --- a/src/nebula_velodyne/nebula_velodyne_decoders/calibration/VLP32MR.yaml +++ b/src/nebula_velodyne/nebula_velodyne_decoders/calibration/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/src/nebula_velodyne/nebula_velodyne_decoders/calibration/VLS128.yaml b/src/nebula_velodyne/nebula_velodyne_decoders/calibration/VLS128.yaml index 8c783c4a2..dc7057b83 100644 --- a/src/nebula_velodyne/nebula_velodyne_decoders/calibration/VLS128.yaml +++ b/src/nebula_velodyne/nebula_velodyne_decoders/calibration/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, - } - - { - 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, - 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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, + - { + 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/src/nebula_velodyne/nebula_velodyne_decoders/include/nebula_velodyne_decoders/decoders/velodyne_scan_decoder.hpp b/src/nebula_velodyne/nebula_velodyne_decoders/include/nebula_velodyne_decoders/decoders/velodyne_scan_decoder.hpp index 897838132..867fb03c9 100644 --- a/src/nebula_velodyne/nebula_velodyne_decoders/include/nebula_velodyne_decoders/decoders/velodyne_scan_decoder.hpp +++ b/src/nebula_velodyne/nebula_velodyne_decoders/include/nebula_velodyne_decoders/decoders/velodyne_scan_decoder.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef NEBULA_WS_VELODYNE_SCAN_DECODER_HPP -#define NEBULA_WS_VELODYNE_SCAN_DECODER_HPP +#ifndef NEBULA_VELODYNE_DECODERS__DECODERS__VELODYNE_SCAN_DECODER_HPP_ +#define NEBULA_VELODYNE_DECODERS__DECODERS__VELODYNE_SCAN_DECODER_HPP_ #include #include @@ -243,4 +243,4 @@ class VelodyneScanDecoder } // namespace nebula::drivers -#endif // NEBULA_WS_VELODYNE_SCAN_DECODER_HPP +#endif // NEBULA_VELODYNE_DECODERS__DECODERS__VELODYNE_SCAN_DECODER_HPP_ diff --git a/src/nebula_velodyne/nebula_velodyne_decoders/include/nebula_velodyne_decoders/velodyne_driver.hpp b/src/nebula_velodyne/nebula_velodyne_decoders/include/nebula_velodyne_decoders/velodyne_driver.hpp index 45ac55bbe..1d7cdf6ed 100644 --- a/src/nebula_velodyne/nebula_velodyne_decoders/include/nebula_velodyne_decoders/velodyne_driver.hpp +++ b/src/nebula_velodyne/nebula_velodyne_decoders/include/nebula_velodyne_decoders/velodyne_driver.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef NEBULA_VELODYNE_DRIVER_H -#define NEBULA_VELODYNE_DRIVER_H +#ifndef NEBULA_VELODYNE_DECODERS__VELODYNE_DRIVER_HPP_ +#define NEBULA_VELODYNE_DECODERS__VELODYNE_DRIVER_HPP_ #include "nebula_core_common/nebula_common.hpp" #include "nebula_core_common/nebula_status.hpp" @@ -72,4 +72,4 @@ class VelodyneDriver : NebulaDriverBase } // namespace nebula::drivers -#endif // NEBULA_VELODYNE_DRIVER_H +#endif // NEBULA_VELODYNE_DECODERS__VELODYNE_DRIVER_HPP_ diff --git a/src/nebula_velodyne/nebula_velodyne_hw_interfaces/include/nebula_velodyne_hw_interfaces/velodyne_hw_interface.hpp b/src/nebula_velodyne/nebula_velodyne_hw_interfaces/include/nebula_velodyne_hw_interfaces/velodyne_hw_interface.hpp index e19437b25..5dd7f64ab 100644 --- a/src/nebula_velodyne/nebula_velodyne_hw_interfaces/include/nebula_velodyne_hw_interfaces/velodyne_hw_interface.hpp +++ b/src/nebula_velodyne/nebula_velodyne_hw_interfaces/include/nebula_velodyne_hw_interfaces/velodyne_hw_interface.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef NEBULA_VELODYNE_HW_INTERFACE_H -#define NEBULA_VELODYNE_HW_INTERFACE_H +#ifndef NEBULA_VELODYNE_HW_INTERFACES__VELODYNE_HW_INTERFACE_HPP_ +#define NEBULA_VELODYNE_HW_INTERFACES__VELODYNE_HW_INTERFACE_HPP_ // Have to define macros to silence warnings about deprecated headers being used by // boost/property_tree/ in some versions of boost. @@ -238,4 +238,4 @@ class VelodyneHwInterface }; } // namespace nebula::drivers -#endif // NEBULA_VELODYNE_HW_INTERFACE_H +#endif // NEBULA_VELODYNE_HW_INTERFACES__VELODYNE_HW_INTERFACE_HPP_