Template Function ouster::sdk::core::dewarp(const Eigen::Ref<const PointCloudXYZ<T>>&, const Eigen::Ref<const PosesT<T>>)

• Defined in File pose_util.h

Function Documentation

template<typename T>
PointCloudXYZ<T> ouster::sdk::core::dewarp(const Eigen::Ref<const PointCloudXYZ<T>> &points, const Eigen::Ref<const PosesT<T>> poses)

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.

• poses[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.