velodyne calibration

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ubuntu 12.04 and ROS Fuerte

Hi,

The velodyne_pointcloud package runs fine and display pointcloud from velodyne 32e using the calibration file that comes with the ROS package.

Questions:

1. I was wondering if one can use the specific calibration file that ships with velodyne instead of the one that comes with ROS package?
2. The format of the calibration files is different and their values change a lot.Can any one tell how to use the specific calibration file rather than the generic calibration file?

Snippet from the ROS calibration package

{dist_correction: 0.0, dist_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}

32db.xml that comes with velodyne can be found at this link. https://dl.dropboxusercontent.com/u/95042389/32db.xml

3.Does using the calibration files improve the accuracy? If possible can tell quantitatively?

4.As kinect has a camera model that can be used to relate camera parameters and real world points, Does velodyne has some model. Can you point some source for the geometric or mathematical model of velodyne 32e?

Thank you so much for the help.

Sai