PTK Lidar Motion Distortion Correction

Introduction

Collaboration diagram for PTK Lidar Motion Distortion Correction:

Functions
int32_t	PTK_Lidar_correctMotionDistortion_HDL32E (PTK_PointCloud *src, const PTK_LidarMeta *meta, const PTK_RigidTransform *M_ego_lidar, PTK_Position *referenceRoot)
	This undoes distortion in the collected LiDAR data caused by the sensor's movement as it completes a single rotation. The results are overwritten in the original cloud given. The algorithm used is to transform each point from LiDAR coordinates to the reference ENU coordinate system and then back to the LiDAR coordinate system corresponding to the first slice in the point cloud. More...

Function Documentation

PTK_Lidar_correctMotionDistortion_HDL32E()

int32_t PTK_Lidar_correctMotionDistortion_HDL32E	(	PTK_PointCloud *	src,
		const PTK_LidarMeta *	meta,
		const PTK_RigidTransform *	M_ego_lidar,
		PTK_Position *	referenceRoot
	)

This undoes distortion in the collected LiDAR data caused by the sensor's movement as it completes a single rotation. The results are overwritten in the original cloud given. The algorithm used is to transform each point from LiDAR coordinates to the reference ENU coordinate system and then back to the LiDAR coordinate system corresponding to the first slice in the point cloud.

Parameters

[in,out]	src	The point cloud to correct.
[in]	meta	The input LiDAR metadata.
[in]	M_ego_lidar	The calibrated transformation matrix from LiDAR coordinates to ego coordinates.
[out]	referenceRoot	The reference point that defines the ENU coordinate system where we do local processing

Returns

• PTK_ALG_RET_SUCCESS, if successful.
• < error code, otherwise.