Function ouster::sdk::core::pose_at_timestamp

Function Documentation

Pose ouster::sdk::core::pose_at_timestamp(const LidarFrame &frame, uint64_t lidar_ts)

Interpolate the body-to-world pose at a lidar timestamp.

Uses per-column poses from the frame, considering only columns with a valid status word (bit 0 set).

Parameters:

  • frame[in] Lidar frame providing column timestamps, status, and poses

  • lidar_ts[in] Lidar timestamp in nanoseconds

Throws:

std::invalid_argument – if the timestamp cannot be bracketed by valid columns

Returns:

Interpolated pose at the requested lidar timestamp