Class LocalizationBackend

Class Documentation

class LocalizationBackend

Abstract base class for Localization backend.

The LocalizationBackend class provides an interface for processing LidarScans, estimating poses, and generating point clouds using a preloaded map. Implementations of this class are responsible for processing incoming lidar data, retrieving the latest estimated pose, and providing the current point cloud.

See also

LidarScan

See also

LocalizationConfig

See also

LocalizationEngine

Note

This class is intended to be subclassed; all core methods are pure virtual and must be implemented by derived classes.

Public Functions

inline LocalizationBackend(const std::vector<std::shared_ptr<ouster::sdk::core::SensorInfo>> &infos, const LocalizationConfig &config)

Constructs the LocalizationBackend.

Parameters:

  • infos[in] – A vector of shared pointers to SensorInfo objects.

  • config[in] – The LocalizationConfig object containing configuration parameters for the localization.

virtual ~LocalizationBackend() = default

LocalizationBackend destructor.

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

Let Localization process LidarScans and rely on current world map to estimate the new state (pose).

This function processes a set of LidarScans provided as vector of shared pointers of LidarScan, The engine returns these LidarScans with their per-column pose corrected.

Parameters:

scans[inout] – A vector of shared pointers to LidarScan objects to be processed.