User Guide

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Next, the field of view specific distance R
u
can be evaluated using the reported distance R' from the echo,
the B
x
, B
y
, and u, v derived from the segment number of the echo of interest.
R
u
= R' - B
x
sin u cos v - B
y
cos u cos v + Dsin v
Equation 4: R
u
calculation
Transformation to Cartesian Coordinates
From the corrected distance R
u
based on actual distance of echo, fixed opto-mechanical parameters B
x
, B
y
,
and D and internal angles u, v stored in the sensor specific for each segment, the Cartesian coordinates
can be calculated.
x = B
y
+ R
u
cos u cos v
Equation 5: Transformations to Cartesian x
y = B
x
+ R
u
sin u cos v
Equation 6: Transformations to Cartesian y
z = - R
u
sin v
Equation 7: Transformations to Cartesian z
Those transformations should be applied to all echoes reported by the sensor.
The way the angle v is reported by the sensor requires a minus sign in the z-axis
transformation equation to conform to the universal x,y,z axis definition.
Contact LeddarTech support for sample Python code.