Class ConstantVelocityDeskewMethod

• Defined in File deskew_method.h

Inheritance Relationships

Base Type

• public ouster::sdk::mapping::DeskewMethod (Class DeskewMethod)

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 scan. Each point’s acquisition time is used to interpolate an 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)

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.

virtual void update(ouster::sdk::core::LidarScanSet &scan_set) override

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

Parameters:

scan_set[inout] – A LidarScanSet containing one or more temporally adjacent LiDAR scans. Implementations adjust the LidarScan poses based on an assumed motion model to reduce distortion caused by sensor movement during LidarScan acquisition.