Structure containing beam geometry calibration data for raw data processing. More...
Functions | |
| list | beam_altitude_angles (self) |
| Vertical angle of each beam in degrees. | |
| list | beam_azimuth_angles (self) |
| Horizontal angle offset of each beam in degrees. | |
| list | pixel_shift_by_row (self) |
| Per-row pixel shift for destaggering raw data. | |
| float | lidar_origin_to_beam_origin_mm (self) |
| Distance from lidar origin to beam origin in millimeters. | |
| Matrix4f | beam_to_lidar_transform (self) |
| 4x4 transform from beam frame to lidar frame. | |
Structure containing beam geometry calibration data for raw data processing.