Class DeskewMethod

• Defined in File deskew_method.h

Inheritance Relationships

Derived Types

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

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

Class Documentation

class DeskewMethod

Abstract interface for LiDAR scan deskewing strategies.

A DeskewMethod encapsulates the logic required to correct (deskew) the scan poses for each LidarScan within the LidarScanSet.

Typical usage pattern:

• Construct a concrete deskew method passing SensorInfo per-sensor.

• Update set per-sensor timestamp offsets.

• Invoke update() with a LidarScanSet to apply deskewing in-place.

Subclassed by ouster::sdk::mapping::ConstantVelocityDeskewMethod, ouster::sdk::mapping::InertialIntegrationImuDeskewMethod

Public Functions

DeskewMethod(const std::vector<std::shared_ptr<ouster::sdk::core::SensorInfo>> &infos)

Construct a deskew method from sensor info structures.

Parameters:

infos[in] – A vector of shared pointers to SensorInfo objects, one per sensor.

virtual ~DeskewMethod() = default

Virtual destructor.

virtual void update(ouster::sdk::core::LidarScanSet &scan_set) = 0

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.

inline virtual void set_last_pose(int64_t ts, const ouster::sdk::core::Matrix4dR &pose)

Set the last pose computed from SLAM.

Parameters:

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

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