&, double, double)¶

Defined in File pose_util.h

Function Documentation¶

template<typename T> std::vector<Eigen::Vector3<T>> ouster::sdk::core::dewarp(const FrameSet &frame_set, const std::vector<XYZLutT<T>> &xyzluts, double min_range, double max_range)¶

This function takes in a FrameSet and a list of XYZLut(s) then applies dewarping to each LidarFrame within the set based on the poses associated with each column in the LidarFrame.

It filters out points with zero range and points outside the specified range limits.

Parameters:

frame_set[in] The set of LidarFrames to dewarp.
xyzluts[in] One XYZLut per frame in frame_set, used to project range measurements into Cartesian coordinates.
min_range[in] Minimum range (meters); points closer than this are excluded.
max_range[in] Maximum range (meters); points farther than this are excluded.