Lidar Calibrations
1 min
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.
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)