A single rotating wedge prism in a Risley-prism beam deflector (see :meth:LiDARCloud.addScanRisley). More...

Detailed Description

A single rotating wedge prism in a Risley-prism beam deflector (see :meth:LiDARCloud.addScanRisley).

A pair of such prisms with different (and generally incommensurate) rotation rates traces the characteristic non-repetitive rosette of a Livox sensor. The beam direction is computed by non-paraxial ray tracing through the wedges; the field of view is an emergent property of the wedge angles and refractive indices, not a directly specified parameter.

Parameters

wedge_angle	Wedge (inclination) angle of the prism in radians.
refractive_index	Refractive index of the prism glass.
rotor_rate	Rotation rate about the optical axis in radians/second (the sign sets the rotation direction; a counter-rotating pair traces a rosette).
phase	Initial clocking angle of the wedge about the optical axis in radians at scan time t=0.

Definition at line 74 of file LiDARCloud.py.

Public Member Functions
	__init__ (self, float wedge_angle, float refractive_index, float rotor_rate, float phase=0.0)

List[float]	to_list (self)
	Return the prism as a 4-element [wedge_angle, refractive_index, rotor_rate, phase] list.

str	__repr__ (self)

bool	__eq__ (self, other)

Public Attributes
	wedge_angle = float(wedge_angle)

	refractive_index = float(refractive_index)

	rotor_rate = float(rotor_rate)

	phase = float(phase)

Constructor & Destructor Documentation

◆ init()

pyhelios.LiDARCloud.RisleyPrism.__init__	(		self,
		float	wedge_angle,
		float	refractive_index,
		float	rotor_rate,
		float	phase = 0.0 )

Definition at line 78 of file LiDARCloud.py.

Member Function Documentation

◆ eq()

bool pyhelios.LiDARCloud.RisleyPrism.__eq__	(		self,
			other )

Definition at line 93 of file LiDARCloud.py.

◆ repr()

str pyhelios.LiDARCloud.RisleyPrism.__repr__ ( self )

Definition at line 89 of file LiDARCloud.py.

◆ to_list()

List[float] pyhelios.LiDARCloud.RisleyPrism.to_list ( self )

Return the prism as a 4-element [wedge_angle, refractive_index, rotor_rate, phase] list.

Definition at line 86 of file LiDARCloud.py.

Member Data Documentation

◆ phase

pyhelios.LiDARCloud.RisleyPrism.phase = float(phase)

Definition at line 83 of file LiDARCloud.py.

◆ refractive_index

pyhelios.LiDARCloud.RisleyPrism.refractive_index = float(refractive_index)

Definition at line 81 of file LiDARCloud.py.

◆ rotor_rate

pyhelios.LiDARCloud.RisleyPrism.rotor_rate = float(rotor_rate)

Definition at line 82 of file LiDARCloud.py.

◆ wedge_angle

pyhelios.LiDARCloud.RisleyPrism.wedge_angle = float(wedge_angle)

Definition at line 80 of file LiDARCloud.py.

The documentation for this class was generated from the following file:

pyhelios/LiDARCloud.py