Is the 'dual two point calibration' (correctly) used?

[victl]

Hi, I've checked the source code 'rawdata.cc' and found the 'dual two point calibration' method documented in the Velodyne HDL-64E S2 Users Manual is embraced by a if clause. I have several questions here:

1. the python script that turns the db.xml file into YAML file does not generate the entry two_pt_correction_available, which means it'll be false whenever we query its value.
2. the relevant source code is:if (corrections.two_pt_correction_available) { // ..., but the users manual wanted this calibration to be applied only when the distance is nearer than 25.04m, should this be added to the if condition?
3. after the if clause, the code is float distance_x = distance + distance_corr_x;, but the variable distance had already been modified with distance += corrections.dist_correction; in a previous line. We should notice that the distance_corr_x (if calculated by enabling two point calibration) shall be very close to dist_correction(by checking a db.xml file), so we might be adding distance correction for two times. This might not be the original intention of the Velodyne company?

There are rare articles/papers talking about this topic, all papers I read that discuss LiDAR calibration does not take dist_correction_x/y into account. Can anybody point me to an article/paper that discuss more in-depth about these two parameters set by Velodyne?
I'm trying to calibrate a HDL-64E S2 BTW.

Thanks in advance!

[jack-oquin]

Thanks for your bug report. I maintain this package, but I did not write the 64E S2 code, nor do I have access to that device for testing. Its code was contributed many years ago by another user.

It sounds like you know more about that model than I do, so I would accept a pull request that makes the driver work as you think it should.

[JWhitleyWork]

Closing with a note to add support in the future with #198.