Template Function ouster::sdk::core::interp_pose(const std::vector<T>&, T, Eigen::Ref<const Matrix4dR>, T, Eigen::Ref<const Matrix4dR>)

Function Documentation

template<typename T>
std::vector<Matrix4dR> ouster::sdk::core::interp_pose(const std::vector<T> &x_interp, T t0, Eigen::Ref<const Matrix4dR> x0, T t1, Eigen::Ref<const Matrix4dR> x1)

One-dimensional linear interpolation for monotonically increasing sample transformation matrices.

This method interpolates between two poses.

Note

If x_interp contains values outside the range of t0 and t1 it will extrapolate the values.

Parameters:

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

  • t0[in] – The x-coordinate value corresponding to the first known pose.

  • x0[in] – The first known 4x4 transformation matrix.

  • t1[in] – The x-coordinate value corresponding to the second known pose.

  • x1[in] – The second known 4x4 transformation matrix.

Throws:

std::invalid_argument – if t0 and t1 are the same value.

Returns:

A vector of 4x4 transformation matrices representing the interpolated poses at x-coordinate values given by x_interp.