Class InertialIntegrationImuDeskewMethod

Inheritance Relationships

Base Type

Class Documentation

class InertialIntegrationImuDeskewMethod : public ouster::sdk::mapping::DeskewMethod

Deskew method using inertial measurement unit (IMU) data to perform motion compensation.

Implements a motion model that integrates IMU angular velocity and linear acceleration data to compute the sensor’s pose over the duration of a scan. Each imu data point is used to interpolate the scan poses to correct for motion distortion.

Public Functions

InertialIntegrationImuDeskewMethod(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)

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.

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

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.