Lidar Calibrations

1min

A LIDAR calibration is represented as a LidarCalibration object and consists of a position expressed with three coordinates and a rotation in the form of a Quaternion. Optionally, the sensor's field of view may be specified by providing an object that has a sweep start angle and sweep stop angle. The field of view may also optionally include the depth to which the field extends.
Key
Value
Parameters
rotation_quaternion
A RotationQuaternion object
w, x, y, z
position
A Position object
x, y, z
field_of_view (optional)
A LidarFieldOfView object
start_angle_deg, stop_angle_deg and optionally depth
See the code example below for creating a base LidarCalibration object.
Python
from kognic.io.model.calibration.common import Position, RotationQuaternion
from kognic.io.model.calibration.lidar.lidar_calibration import LidarCalibration, LidarFieldOfView


def unity_lidar_calibration():
    lidar_position = Position(x=0.0, y=0.0, z=0.0)
    lidar_rotation = RotationQuaternion(w=1.0, x=0.0, y=0.0, z=0.0)
    lidar_fov = LidarFieldOfView(start_angle_deg=315, stop_angle_deg=45, depth=200)
    return LidarCalibration(position=lidar_position, rotation_quaternion=lidar_rotation, field_of_view=lidar_fov)
from kognic.io.model.calibration.common import Position, RotationQuaternion
from kognic.io.model.calibration.lidar.lidar_calibration import LidarCalibration, LidarFieldOfView


def unity_lidar_calibration():
    lidar_position = Position(x=0.0, y=0.0, z=0.0)
    lidar_rotation = RotationQuaternion(w=1.0, x=0.0, y=0.0, z=0.0)
    lidar_fov = LidarFieldOfView(start_angle_deg=315, stop_angle_deg=45, depth=200)
    return LidarCalibration(position=lidar_position, rotation_quaternion=lidar_rotation, field_of_view=lidar_fov)
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Key	Value	Parameters
rotation_quaternion	A RotationQuaternion object	w, x, y, z
position	A Position object	x, y, z
field_of_view (optional)	A LidarFieldOfView object	start_angle_deg, stop_angle_deg and optionally depth

Calibrations Overview

Standard Camera Calibrations