cartesian.h
Typedefs
Functions
-
template<typename T>
void ouster::cartesianT(PointsT<T> &points, const Eigen::Ref<const img_t<uint32_t>> &range, const PointsT<T> &direction, const PointsT<T> &offset) Converts a staggered range image to Cartesian points.
- Parameters:
points – [inout] The resulting point cloud, should be pre-allocated and have the same dimensions as the direction array.
range – [in] a range image in the same format as the RANGE field of a LidarScan.
direction – [in] the direction of an xyz lut.
offset – [in] the offset of an xyz lut.
-
template<typename T>
PointsT<T> ouster::cartesianT(const Eigen::Ref<const img_t<uint32_t>> &range, const PointsT<T> &direction, const PointsT<T> &offset) Converts a staggered range image to Cartesian points.
- Parameters:
range – [in] a range image in the same format as the RANGE field of a LidarScan.
direction – [in] the direction of an xyz lut.
offset – [in] the offset of an xyz lut.
- Throws:
std::invalid_argument – if the range image dimensions do not match
- Returns:
Cartesian points where ith row is a 3D point which corresponds to ith pixel in LidarScan where i = row * w + col.