Template Function ouster::sdk::core::cartesianT(const Eigen::Ref<const img_t<uint32_t>>&, const ArrayX3R<T>&, const ArrayX3R<T>&)

• Defined in File cartesian.h

Function Documentation

template<typename T>
PointCloudXYZ<T> ouster::sdk::core::cartesianT(const Eigen::Ref<const img_t<uint32_t>> &range, const ArrayX3R<T> &direction, const ArrayX3R<T> &offset)

Converts a staggered range image to Cartesian points.

Parameters:

• range[in] – a range image in the same format as the RANGE field of a LidarScan.

• direction[in] – the direction of an xyz lut.

• offset[in] – the offset of an xyz lut.

Throws:

std::invalid_argument – if the range image dimensions do not match

Returns:

Cartesian points where ith row is a 3D point which corresponds to ith pixel in LidarScan where i = row * w + col.