Get the beam intrinsics

GET

http://os-992244000006.local/api/v1/sensor/metadata/beam_intrinsics

GET

/api/v1/sensor/metadata/beam_intrinsics

$ curl http://os-992244000006.local/api/v1/sensor/metadata/beam_intrinsics

200Retrieved

1 {
2   "beam_altitude_angles": [
3     20.38,
4     20.12,
5     19.79,
6     19.45,
7     19.14,
8     18.85,
9     18.55,
10     18.2,
11     17.86,
12     17.58,
13     17.27,
14     16.93,
15     16.58,
16     16.29,
17     15.98,
18     15.61,
19     15.27,
20     14.97,
21     14.66,
22     14.3,
23     13.96,
24     13.65,
25     13.33,
26     12.97,
27     12.62,
28     12.31,
29     11.98,
30     11.63,
31     11.27,
32     10.96,
33     10.63,
34     10.26,
35     9.91,
36     9.59,
37     9.26,
38     8.89,
39     8.54,
40     8.21,
41     7.87,
42     7.52,
43     7.15,
44     6.82,
45     6.47,
46     6.11,
47     5.76,
48     5.42,
49     5.08,
50     4.73,
51     4.36,
52     4.03,
53     3.66,
54     3.31,
55     2.96,
56     2.62,
57     2.27,
58     1.91,
59     1.55,
60     1.22,
61     0.85,
62     0.51,
63     0.16,
64     -0.2,
65     -0.55,
66     -0.91,
67     -1.26,
68     -1.62,
69     -1.96,
70     -2.3,
71     -2.66,
72     -3.02,
73     -3.36,
74     -3.72,
75     -4.07,
76     -4.42,
77     -4.77,
78     -5.11,
79     -5.46,
80     -5.82,
81     -6.16,
82     -6.49,
83     -6.85,
84     -7.21,
85     -7.55,
86     -7.88,
87     -8.23,
88     -8.59,
89     -8.93,
90     -9.25,
91     -9.6,
92     -9.96,
93     -10.31,
94     -10.63,
95     -10.96,
96     -11.32,
97     -11.67,
98     -11.97,
99     -12.31,
100     -12.68,
101     -13,
102     -13.32,
103     -13.64,
104     -14,
105     -14.33,
106     -14.63,
107     -14.96,
108     -15.31,
109     -15.64,
110     -15.94,
111     -16.26,
112     -16.62,
113     -16.93,
114     -17.22,
115     -17.54,
116     -17.9,
117     -18.22,
118     -18.49,
119     -18.8,
120     -19.16,
121     -19.47,
122     -19.73,
123     -20.04,
124     -20.39,
125     -20.7,
126     -20.94,
127     -21.25,
128     -21.6,
129     -21.9,
130     -22.14
131   ],
132   "beam_azimuth_angles": [
133     4.24,
134     1.41,
135     -1.42,
136     -4.23,
137     4.23,
138     1.41,
139     -1.41,
140     -4.23,
141     4.23,
142     1.41,
143     -1.41,
144     -4.21,
145     4.23,
146     1.42,
147     -1.4,
148     -4.23,
149     4.24,
150     1.41,
151     -1.4,
152     -4.23,
153     4.24,
154     1.42,
155     -1.4,
156     -4.22,
157     4.23,
158     1.41,
159     -1.41,
160     -4.22,
161     4.23,
162     1.42,
163     -1.4,
164     -4.22,
165     4.24,
166     1.41,
167     -1.4,
168     -4.23,
169     4.23,
170     1.41,
171     -1.41,
172     -4.22,
173     4.23,
174     1.41,
175     -1.41,
176     -4.23,
177     4.23,
178     1.4,
179     -1.42,
180     -4.23,
181     4.23,
182     1.41,
183     -1.42,
184     -4.23,
185     4.23,
186     1.4,
187     -1.42,
188     -4.24,
189     4.22,
190     1.41,
191     -1.43,
192     -4.24,
193     4.22,
194     1.4,
195     -1.42,
196     -4.24,
197     4.22,
198     1.4,
199     -1.42,
200     -4.23,
201     4.22,
202     1.4,
203     -1.4,
204     -4.24,
205     4.22,
206     1.4,
207     -1.42,
208     -4.24,
209     4.22,
210     1.41,
211     -1.41,
212     -4.22,
213     4.22,
214     1.39,
215     -1.42,
216     -4.23,
217     4.22,
218     1.41,
219     -1.41,
220     -4.22,
221     4.23,
222     1.41,
223     -1.41,
224     -4.23,
225     4.23,
226     1.41,
227     -1.41,
228     -4.22,
229     4.23,
230     1.41,
231     -1.41,
232     -4.22,
233     4.22,
234     1.41,
235     -1.41,
236     -4.22,
237     4.23,
238     1.41,
239     -1.4,
240     -4.23,
241     4.22,
242     1.41,
243     -1.41,
244     -4.23,
245     4.22,
246     1.4,
247     -1.41,
248     -4.23,
249     4.22,
250     1.4,
251     -1.41,
252     -4.24,
253     4.22,
254     1.4,
255     -1.42,
256     -4.24,
257     4.22,
258     1.4,
259     -1.42,
260     -4.23
261   ],
262   "beam_to_lidar_transform": [
263     1,
264     0,
265     0,
266     15.805999755859375,
267     0,
268     1,
269     0,
270     0,
271     0,
272     0,
273     1,
274     0,
275     0,
276     0,
277     0,
278     1
279   ],
280   "lidar_origin_to_beam_origin_mm": 15.8059999999
281 }

Get the sensor beam intrinsics

Response

Beam altitude and azimuth offsets, in degrees. Length of arrays is equal to the number of channels in the sensor. Also provides distance between lidar origin and beam origin in mm, to be used for point cloud calculations.

beam_altitude_angleslist of doubles

beam_azimuth_angleslist of doubles

beam_to_lidar_transformlist of doubles

lidar_origin_to_beam_origin_mmdouble