From 6281d2568b9bea9ccba193c557feb621bc36383f Mon Sep 17 00:00:00 2001
From: kennouni <ennounikamal@gmail.com>
Date: Thu, 4 Jan 2018 08:30:31 -0500
Subject: [PATCH 1/3] initial commit

---
 velodyne_driver/src/driver/driver.cc          |  5 +
 .../launch/VLP-32C_points.launch              | 51 ++++++++++
 .../params/VeloView-VLP-32C.yaml              | 98 +++++++++++++++++++
 3 files changed, 154 insertions(+)
 create mode 100644 velodyne_pointcloud/launch/VLP-32C_points.launch
 create mode 100644 velodyne_pointcloud/params/VeloView-VLP-32C.yaml

diff --git a/velodyne_driver/src/driver/driver.cc b/velodyne_driver/src/driver/driver.cc
index fbb8678ad..03124dfcf 100644
--- a/velodyne_driver/src/driver/driver.cc
+++ b/velodyne_driver/src/driver/driver.cc
@@ -53,6 +53,11 @@ VelodyneDriver::VelodyneDriver(ros::NodeHandle node,
       packet_rate = 1808.0;
       model_full_name = std::string("HDL-") + config_.model;
     }
+    else if (config_.model == "32C")
+    {
+      packet_rate = 1808.0;
+      model_full_name = std::string("VLP-") + config_.model;
+    }
   else if (config_.model == "VLP16")
     {
       packet_rate = 754;             // 754 Packets/Second for Last or Strongest mode 1508 for dual (VLP-16 User Manual)
diff --git a/velodyne_pointcloud/launch/VLP-32C_points.launch b/velodyne_pointcloud/launch/VLP-32C_points.launch
new file mode 100644
index 000000000..d745c269d
--- /dev/null
+++ b/velodyne_pointcloud/launch/VLP-32C_points.launch
@@ -0,0 +1,51 @@
+<!-- -*- mode: XML -*- -->
+<!-- run velodyne_pointcloud/CloudNodelet in a nodelet manager for an VLP-32C -->
+
+<launch>
+
+  <!-- declare arguments with default values -->
+  <arg name="calibration" default="$(find velodyne_pointcloud)/params/VeloView-VLP-32C.yaml"/>
+  <arg name="device_ip" default="" />
+  <arg name="frame_id" default="velodyne" />
+  <arg name="manager" default="$(arg frame_id)_nodelet_manager" />
+  <arg name="max_range" default="130.0" />
+  <arg name="min_range" default="0.4" />
+  <arg name="pcap" default="" />
+  <arg name="port" default="2368" />
+  <arg name="read_fast" default="false" />
+  <arg name="read_once" default="false" />
+  <arg name="repeat_delay" default="0.0" />
+  <arg name="rpm" default="600.0" />
+  <arg name="laserscan_ring" default="-1" />
+  <arg name="laserscan_resolution" default="0.007" />
+
+  <!-- start nodelet manager and driver nodelets -->
+  <include file="$(find velodyne_driver)/launch/nodelet_manager.launch">
+    <arg name="device_ip" value="$(arg device_ip)"/>
+    <arg name="frame_id" value="$(arg frame_id)"/>
+    <arg name="manager" value="$(arg manager)" />
+    <arg name="model" value="32C"/>
+    <arg name="pcap" value="$(arg pcap)"/>
+    <arg name="port" value="$(arg port)"/>
+    <arg name="read_fast" value="$(arg read_fast)"/>
+    <arg name="read_once" value="$(arg read_once)"/>
+    <arg name="repeat_delay" value="$(arg repeat_delay)"/>
+    <arg name="rpm" value="$(arg rpm)"/>
+  </include>
+
+  <!-- start cloud nodelet -->
+  <include file="$(find velodyne_pointcloud)/launch/cloud_nodelet.launch">
+    <arg name="calibration" value="$(arg calibration)"/>
+    <arg name="manager" value="$(arg manager)" />
+    <arg name="max_range" value="$(arg max_range)"/>
+    <arg name="min_range" value="$(arg min_range)"/>
+  </include>
+
+  <!-- start laserscan nodelet -->
+  <include file="$(find velodyne_pointcloud)/launch/laserscan_nodelet.launch">
+    <arg name="manager" value="$(arg manager)" />
+    <arg name="ring" value="$(arg laserscan_ring)"/>
+    <arg name="resolution" value="$(arg laserscan_resolution)"/>
+  </include>
+
+</launch>
diff --git a/velodyne_pointcloud/params/VeloView-VLP-32C.yaml b/velodyne_pointcloud/params/VeloView-VLP-32C.yaml
new file mode 100644
index 000000000..fbd9b083a
--- /dev/null
+++ b/velodyne_pointcloud/params/VeloView-VLP-32C.yaml
@@ -0,0 +1,98 @@
+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}
+num_lasers: 32

From 29665186a17e329f3e6697d33715ff3e683e15a6 Mon Sep 17 00:00:00 2001
From: AutonomouStuff Developer <developer@autonomoustuff.com>
Date: Thu, 4 Jan 2018 16:17:48 -0500
Subject: [PATCH 2/3] change readme

---
 README.rst | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/README.rst b/README.rst
index db6f1e185..a5470b1de 100644
--- a/README.rst
+++ b/README.rst
@@ -2,7 +2,7 @@ Overview
 ========
 
 Velodyne_ is a collection of ROS_ packages supporting `Velodyne high
-definition 3D LIDARs`_.
+definition 3D LIDARs`_ .
 
 **Warning**::
 

From bf8f4d770cbd3937cff390ce673c50fc1f16d00d Mon Sep 17 00:00:00 2001
From: Autonomoustuff Developer <developer@autonomoustuff.com>
Date: Thu, 4 Jan 2018 17:58:14 -0500
Subject: [PATCH 3/3] removed config file

---
 .../params/VeloView-VLP-32C.yaml              | 98 -------------------
 1 file changed, 98 deletions(-)
 delete mode 100644 velodyne_pointcloud/params/VeloView-VLP-32C.yaml

diff --git a/velodyne_pointcloud/params/VeloView-VLP-32C.yaml b/velodyne_pointcloud/params/VeloView-VLP-32C.yaml
deleted file mode 100644
index fbd9b083a..000000000
--- a/velodyne_pointcloud/params/VeloView-VLP-32C.yaml
+++ /dev/null
@@ -1,98 +0,0 @@
-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}
-num_lasers: 32