Function ouster_ros::scan_to_cloud_f_destaggered

Function Documentation

void ouster_ros::scan_to_cloud_f_destaggered(ouster_ros::Cloud &cloud, ouster::PointsF &points, const ouster::PointsF &lut_direction, const ouster::PointsF &lut_offset, uint64_t scan_ts, const ouster::LidarScan &ls, const std::vector<int> &pixel_shift_by_row, int return_index)

Populate a destaggered PCL point cloud from a LidarScan

Parameters:

  • cloud – [out] output pcl pointcloud to populate

  • points – [inout] The points parameters is used to store the results of the cartesian product before it gets packed into the cloud object.

  • lut_direction – [in] the direction of the xyz lut (with single precision)

  • lut_offset – [in] the offset of the xyz lut (with single precision)

  • scan_ts – [in] scan start used to caluclate relative timestamps for points

  • lidar_scan – [in] input lidar data

  • pixel_shift_by_row – [in] pixel shifts by row

  • return_index – [in] index of return desired starting at 0