Function rko_lio::core::deskew_scan

• Defined in File deskew.cpp

Function Documentation

void rko_lio::core::deskew_scan(Vector3sVector &scan, const Timestamps &timestamps, const MotionPrior &motion)

Deskew a scan in place, referring every point to timestamps.max.

Parameters:

• scan – Point cloud to deskew in place.

• timestamps – Absolute per-point timestamps, plus the scan’s own min/max.

• motion – Motion prior spanning the scan.