Class InertialIntegrationImuDeskewMethod

Nested Relationships

Nested Types

Inheritance Relationships

Base Type

Class Documentation

class InertialIntegrationImuDeskewMethod : public ouster::sdk::mapping::DeskewMethod

Deskew method using inertial measurement unit (IMU) data to perform motion compensation.

Implements a motion model that integrates IMU angular velocity and linear acceleration data to compute the sensor’s pose over the duration of a frame. Each imu data point is used to interpolate the frame poses to correct for motion distortion.

Public Functions

InertialIntegrationImuDeskewMethod(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.

virtual void set_last_pose(int64_t timestamp_ns, const core::Matrix4dR &pose) override

Set the last pose computed from SLAM.

Parameters:

  • timestamp_ns[in] A timestamp corresponding to the last pose.

  • pose[in] A Matrix4dR object corresponding to the last pose.

virtual void finalize_after_registration(ouster::sdk::core::FrameSet &frame_set, int64_t anchor_timestamp_ns, const core::Matrix4dR &corrected_anchor_pose) override

Finalize deskewing after registration has corrected the frame.

Parameters:

  • frame_set[inout] The lidar frame set to finalize.

  • anchor_timestamp_ns[in] Timestamp of the anchor point in nanoseconds.

  • corrected_anchor_pose[in] Post-registration corrected pose of the anchor.