Class ConstantVelocityDeskewMethod

Inheritance Relationships

Base Type

Class Documentation

class ConstantVelocityDeskewMethod : public ouster::sdk::mapping::DeskewMethod

Deskew method assuming constant linear and angular velocity between subsequent pose registrations.

Implements a simple motion model that linearly interpolates pose over the duration of a frame. Each point’s acquisition time is used to interpolate a SE3 transform, which is then applied to correct its position.

Suitable for platforms with relatively smooth and predictable motion

Public Functions

inline ConstantVelocityDeskewMethod(const std::vector<std::shared_ptr<ouster::sdk::core::SensorInfo>> &infos, const core::Matrix4dR &initial_pose = core::Matrix4dR::Identity())

Construct from sensor info structures.

See also

DeskewMethod::DeskewMethod(const

std::vector<std::shared_ptr<sensor::SensorInfo>>&)

Parameters:

  • infos[in] Per-sensor SensorInfo shared pointers.

  • initial_pose[in] Pose used to anchor the first frame before a motion model has been established. Defaults to identity.

virtual void update(ouster::sdk::core::FrameSet &frame_set) override

Perform in-place deskewing of all frames in the set.

Parameters:

frame_set[inout] A FrameSet containing one or more temporally adjacent LiDAR frames. Implementations adjust the LidarFrame poses based on an assumed motion model to reduce distortion caused by sensor movement during LidarFrame acquisition.