class scenebox.models.assets.Lidar(id=None, path=None, url=None, uri=None, bytes=None, sensor=None, timestamp=None, session_uid=None, aux_metadata=None, format=None, binary_format=None, related_images=None, num_fields=None)

Create a SceneBox Lidar asset.

  • id – Optional, string. An identifier that is unique for the lidar asset throughout SceneBox.

  • path – String. The local path to the lidar to upload. If not None, url, uri, and bytes should all be None.

  • url – String. The URL of the lidar to upload. Lidars must be publicly available. If not None, url, uri, and path should all be None.

  • uri – String. The URI of the lidar to upload. Can be from a private source. If not None, url, path, and bytes should all be None.

  • bytes – io.BytesIO or bytes, string. The lidar bytes to upload. If not None, path, url, and uri should all be None.

  • sensor – Optional, string. The sensor associated with the lidar.

  • timestamp – Optional, either a string or a datetime. The time at which the lidar was taken.

  • session_uid – Optional, string. The session associated with the lidar.

  • aux_metadata – Optional, dict. Auxiliary metadata associated with the lidar.

  • format – The format in which the LIDAR was embedded. pcd|numpy|binary. Default is pcd. PCD files are expected to be valid. Support for binary files is experimental.

  • binary_format – Optional, string. Experimental. For binary data, a decoder to decode each packet to x,y,z,intensity,epoch. Format should be compatible with struct ( library.

  • related_images – Optional, list of strings. Strings are the ids of the related images to be associated with the lidar scene.

  • num_fields – Optional, int. The number of fields exists in LIDAR file to reshape numpy array for displaying. Required for numpy formats