Mathematical Model for Calibration of HDL 64e - Ref: rawdata.cc

[happengor]

Hello, Dose anybody have a clue how the exact mathematical model for calibration of HDL 64e looks like?

From https://github.com/ros-drivers/velodyne/blob/7c2f199f552ecb9f58a3c30734681042b1b99f82/velodyne_pointcloud/src/lib/rawdata.cc , i dont understand the line 771 -> x = xy_distance * sin_rot_angle - horiz_offset * cos_rot_angle;

According to picture from the paper https://journals.sagepub.com/doi/10.5772/50900 ->

the x is supposed to be x = xy_distance * sin_rot_angle + horiz_offset / cos_rot_angle;