Template Function ouster::sdk::core::dewarp(const LidarScan&, const XYZLutT<T>&, double, double)

Function Documentation

template<typename T>
std::vector<Eigen::Vector3<T>> ouster::sdk::core::dewarp(const LidarScan &lidar_scan, const XYZLutT<T> &xyzlut, double min_range, double max_range)

This function takes in a LidarScan and an XYZLut and applies dewarping to it based on the poses associated with each column in the LidarScan.

It filters out points with zero range and points outside the specified range limits.

Note

This method only operates on the first return at the moment.

Parameters:

  • lidar_scan[in] – The LidarScan containing the range data and associated poses.

  • xyzlut[in] – The XYZLut used to convert range data to 3D points.

  • min_range[in] – Minimum range limit in meters. Points with range below this value will be filtered out.

  • max_range[in] – Maximum range limit in meters. Points with range above this value will be filtered out.

Template Parameters:

T – The numeric type for the output 3D points (e.g., float or double).

Returns:

A vector of Eigen::Vector3<T> containing the dewarped 3D points.