Function ouster::sdk::core::dewarp(const PointCloudXYZd&, const Pose&)
Defined in File pose_util.h
Function Documentation
-
inline PointCloudXYZd ouster::sdk::core::dewarp(const PointCloudXYZd &points, const Pose &pose)
This function takes in a set of 3D points and a set of 4x4 pose matrices.
- Parameters:
points[in] – A Eigen matrix of shape (N, 3) representing the 3D points. Each row corresponds to a point in 3D space.
pose[in] – A Eigen matrix of shape (W, 16) representing W 4x4 transformation matrices. Each row is a flattened 4x4 pose matrix
- Returns:
A matrix of shape (N, 3) containing the dewarped 3D points, where the same number of points are transformed by each corresponding pose matrix.