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from dataclasses import dataclass
import numpy as np
[docs]@dataclass(frozen=True)
class SensorParams:
"""Lidar sensor parameters."""
start_angle: float
end_angle: float
laser_angles: list
angle_resolution: float
max_distance: float
noise_mu: float
noise_sigma: float
VelodyneHDL32E = SensorParams(
start_angle=0,
end_angle=2 * np.pi,
laser_angles=np.linspace(-np.radians(30.67), np.radians(10.67), 24),
angle_resolution=0.1728,
max_distance=100,
noise_mu=0,
noise_sigma=0.078,
)
BasicLidar = SensorParams(
start_angle=0,
end_angle=2 * np.pi,
laser_angles=np.linspace(-np.radians(4), np.radians(10), 50),
angle_resolution=1,
max_distance=20,
noise_mu=0,
noise_sigma=0.078,
)