mathemathical model of calibration of velodyne driver?

[nonlinear1]

Recently , I add a glass dome to the vlp 16 for this lidar works in mine, it has a thickness of 10mm . when I use the lidar with glass dome to run slam. I got wrong map. I think the glass done has a impact on the lidar. So I need calibrate it, again. Could someone know how to calibrate the vlp16 and what is the mathematical mode in rawdata.cc of velodyne/velodyne_pointcloud/src/lib/rawdata.cc and the glass dome is as follow:

Thank you very much!

[Oyssster]

Recently , I add a glass dome to the vlp 16 for this lidar works in mine, it has a thickness of 10mm . when I use the lidar with glass dome to run slam. I got wrong map. I think the glass done has a impact on the lidar. So I need calibrate it, again. Could someone know how to calibrate the vlp16 and what is the mathematical mode in rawdata.cc of velodyne/velodyne_pointcloud/src/lib/rawdata.cc and the glass dome is as follow:

Thank you very much!

Hello, have you figured out how to calibrate the lidar? I'm trying to get the reflectivity from the intensity.