Function ouster::sdk::core::interp_pose(const std::vector<double>&, const std::vector<double>&, const std::vector<Matrix4dR>&)

Function Documentation

Poses ouster::sdk::core::interp_pose(const std::vector<double> &x_interp, const std::vector<double> &x_known, const std::vector<Matrix4dR> &poses_known)

Computes piecewise linear interpolated 4x4 transformation matrices based on input x-coordinate values.

This function is used by PoseOptimizer and trajectory processing. For general use, prefer the templated version above.

Parameters:

  • x_interp[in] – A vector of x-coordinate values at which to compute the interpolated transformation matrices.

  • x_known[in] – A vector of reference x-coordinate values corresponding to the known transformation matrices. Must be monotonically increasing and not repeated.

  • poses_known[in] – A vector of Matrix4dR representing the 4x4 transformation matrices (in row-major order, 16 elements each) associated with each x-coordinate value in x_known.

Returns:

An Eigen::Matrix of dynamic size containing the interpolated transformation matrices (flattened in row-major order, 16 elements each) at the x-coordinate values given by x_interp.