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leddartech / pioneer.das.api

BSD 3-Clause "New" or "Revised" License
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Ouster motion distortion correction #12

Open naderabdelaziz opened 2 years ago

naderabdelaziz commented 2 years ago

Hello,

Thank you for your efforts to collect the data and construct the API. I have looked in the Jupyter example on how to import different datasets. My question is: Do you have a function in your API that corrects the motion distortion for the Ouster point clouds? You have showcased similar work for the Pixel lidar, but I cannot manage to use the same method the produce distortion-free ouster points clouds.

Please, provide me with the line of code to perform this task. I appreciate your help!

Regards, Nader Abdelaziz.

XavierOuimet-Leddartech commented 1 year ago

Hi,

In our point_cloud sample method, we have the parameter "undistort", which performs the Lidar unroll (or motion compensation), which will work for the Ouster pointcloud.

Also a useful parameter would be "referential", which lets the user specify the desired referential frame.

https://github.com/leddartech/pioneer.das.api/blob/1f18e0fc40f1ea2963fadee035b96ef72fdd3baf/pioneer/das/api/samples/point_cloud.py#L15