Deskew Class Reference

#include <deskew.hpp>

Collaboration diagram for Deskew:

Public Member Functions
void	deskew_point_cloud (sensor_msgs::msg::PointCloud2::SharedPtr &input_cloud, const common_lib::structures::Velocities &vehicle_velocity) const
	deskews the point cloud, i.e.

Detailed Description

Definition at line 12 of file deskew.hpp.

Member Function Documentation

deskew_point_cloud()

void Deskew::deskew_point_cloud	(	sensor_msgs::msg::PointCloud2::SharedPtr &	input_cloud,
		const common_lib::structures::Velocities &	vehicle_velocity
	)		const

deskews the point cloud, i.e.

removes error coming from LiDAR rotation while the vehicle moves by moving all points to where they'd be seen at the time of the end of the scan. Assumes constant velocity.

Parameters

input_cloud	Cloud to be deskewed
vehicle_velocity	Vehicle's velocity in its body reference frame

Definition at line 3 of file deskew.cpp.

Here is the call graph for this function:

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

• src/perception/include/deskew/deskew.hpp
• src/perception/src/deskew/deskew.cpp