Lidar Calibrations

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 https //en wikipedia org/wiki/quaternions and spatial rotation 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)