From b851f2cd00332f959ef4eb0dc7efa5b08d8dc4b5 Mon Sep 17 00:00:00 2001
From: Romain Thalineau <romain.thalineau@qwertee.io>
Date: Wed, 12 Jul 2023 10:47:41 +0300
Subject: [PATCH 1/3] fix issue when rotation is not provided in pose

---
 src/pye57/scan_header.py | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/src/pye57/scan_header.py b/src/pye57/scan_header.py
index cce2ef6..c9143ea 100644
--- a/src/pye57/scan_header.py
+++ b/src/pye57/scan_header.py
@@ -24,12 +24,16 @@ def point_count(self):
 
     @property
     def rotation_matrix(self) -> np.array:
+        
         q = Quaternion([e.value() for e in self.node["pose"]["rotation"]])
         return q.rotation_matrix
 
     @property
     def rotation(self) -> np.array:
-        q = Quaternion([e.value() for e in self.node["pose"]["rotation"]])
+        try:
+            q = Quaternion([e.value() for e in self.node["pose"]["rotation"]])
+        except libe57.E57Exception:
+            q = Quaternion()
         return q.elements
 
     @property

From 677378ffa698a26dab256b2dd13095ab9e16f42e Mon Sep 17 00:00:00 2001
From: dancergraham <graham.knapp@gmail.com>
Date: Mon, 12 Aug 2024 16:32:37 +0200
Subject: [PATCH 2/3] nit: catch more restricted exception type

---
 src/pye57/scan_header.py | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/src/pye57/scan_header.py b/src/pye57/scan_header.py
index c9143ea..1c479bd 100644
--- a/src/pye57/scan_header.py
+++ b/src/pye57/scan_header.py
@@ -24,15 +24,15 @@ def point_count(self):
 
     @property
     def rotation_matrix(self) -> np.array:
-        
         q = Quaternion([e.value() for e in self.node["pose"]["rotation"]])
         return q.rotation_matrix
 
     @property
     def rotation(self) -> np.array:
         try:
-            q = Quaternion([e.value() for e in self.node["pose"]["rotation"]])
-        except libe57.E57Exception:
+            rotation = self.node["pose"]["rotation"]
+            q = Quaternion([e.value() for e in rotation])
+        except KeyError:
             q = Quaternion()
         return q.elements
 

From 383d39b1362b9ddd9dd4c5b131fafcc766ee1e83 Mon Sep 17 00:00:00 2001
From: dancergraham <graham.knapp@gmail.com>
Date: Mon, 12 Aug 2024 16:44:48 +0200
Subject: [PATCH 3/3] docs: Add a docstring for the ScanHeader class

---
 src/pye57/scan_header.py | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/src/pye57/scan_header.py b/src/pye57/scan_header.py
index 1c479bd..908f44b 100644
--- a/src/pye57/scan_header.py
+++ b/src/pye57/scan_header.py
@@ -5,6 +5,10 @@
 from pye57.utils import get_fields, get_node
 
 class ScanHeader:
+    """Provides summary statistics for an individual lidar scan in an E57 file.
+
+    Including the number of points, bounds and pose of the scan.
+    """
     def __init__(self, scan_node):
         self.node = scan_node
         points = self.node["points"]