---
title: Lidar Calibrations
slug: api-guide/lidar-calibrations
docTags: 
createdAt: 2024-12-17T10:14:11.222Z
---

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](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.

```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)
```