Source code for ouster.sdk.mapping.localization_backend

from typing import Union, List, Optional
from abc import ABC, abstractmethod
from ouster.sdk.core import SensorInfo, LidarScan
import numpy as np


[docs]class LocalizationConfig: min_range: float = 0.0 max_range: float = 150.0 voxel_size: float = 1.0 initial_pose: Optional[np.ndarray] = None backend: str = "kiss"
[docs]class LocalizationBackend(ABC): """base class of general slam solutions for SDK cli usage""" @abstractmethod def __init__(self, infos: List[SensorInfo], loc_config: LocalizationConfig, map: Union[str, np.ndarray]): """LocalizationBackend constructor""" pass
[docs] @abstractmethod def update(self, scans: List[Optional[LidarScan]]) -> List[Optional[LidarScan]]: """Update the pose (per_column_global_pose) variable in scan and return """ pass