Dewsking point cloud. More...

Public Member Functions
std::vector< Eigen::Vector4d >	deskew (const Eigen::Isometry3d &T_imu_lidar, const Eigen::Vector3d &linear_vel, const Eigen::Vector3d &angular_vel, const std::vector< double > &times, const std::vector< Eigen::Vector4d > &points)
	Deskew a point cloud with a constant linear and angular velocity assumption.

std::vector< Eigen::Vector4d >	deskew (const Eigen::Isometry3d &T_imu_lidar, const std::vector< double > &imu_times, const std::vector< Eigen::Isometry3d > &imu_poses, const double stamp, const std::vector< double > &times, const std::vector< Eigen::Vector4d > &points)
	Deskew a point cloud with IMU pose prediction.

Detailed Description

Dewsking point cloud.

Member Function Documentation

std::vector< Eigen::Vector4d > glim::CloudDeskewing::deskew	(	const Eigen::Isometry3d &	T_imu_lidar,
		const Eigen::Vector3d &	linear_vel,
		const Eigen::Vector3d &	angular_vel,
		const std::vector< double > &	times,
		const std::vector< Eigen::Vector4d > &	points
	)

Deskew a point cloud with a constant linear and angular velocity assumption.

Parameters

T_imu_lidar	Transformation between IMU and LiDAR
linear_vel	IMU linear velocity (v_world_imu)
angular_vel	IMU angular velocity (omega_world_imu)
times	Per-point timestamps
points	Input points

std::vector< Eigen::Vector4d > glim::CloudDeskewing::deskew	(	const Eigen::Isometry3d &	T_imu_lidar,
		const std::vector< double > &	imu_times,
		const std::vector< Eigen::Isometry3d > &	imu_poses,
		const double	stamp,
		const std::vector< double > &	times,
		const std::vector< Eigen::Vector4d > &	points
	)

Deskew a point cloud with IMU pose prediction.

Parameters

T_imu_lidar	Transformation between IMU and LiDAR
imu_times	Timestamps of IMU pose prediction (should cover the time range of $times$)
imu_poses	Predicted IMU poses (T_world_imu)
stamp	Timestamp of the first point
times	Per-point timestamps with respect to the first one
points	Input points

The documentation for this class was generated from the following file: