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Deskewing...again #421

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merged 3 commits into from
Jan 9, 2025
Merged

Deskewing...again #421

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624d8d8
Test with minus
tizianoGuadagnino Jan 9, 2025
f2a3f99
Deskew begin, transform end
tizianoGuadagnino Jan 9, 2025
7df53ee
Some renaming
tizianoGuadagnino Jan 9, 2025
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9 changes: 3 additions & 6 deletions cpp/kiss_icp/core/Preprocessing.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -35,10 +35,6 @@
#include <functional>
#include <vector>

namespace {
constexpr double mid_pose_stamp{0.5};
} // namespace

namespace kiss_icp {

Preprocessor::Preprocessor(const double max_range,
Expand All @@ -63,7 +59,8 @@ std::vector<Eigen::Vector3d> Preprocessor::Preprocess(const std::vector<Eigen::V
if (!deskew_ || timestamps.empty()) {
return frame;
} else {
const auto motion = relative_motion.log();
const auto &omega = relative_motion.log();
const Sophus::SE3d &inverse_motion = relative_motion.inverse();
std::vector<Eigen::Vector3d> deskewed_frame(frame.size());
tbb::parallel_for(
// Index Range
Expand All @@ -73,7 +70,7 @@ std::vector<Eigen::Vector3d> Preprocessor::Preprocess(const std::vector<Eigen::V
for (size_t idx = r.begin(); idx < r.end(); ++idx) {
const auto &point = frame.at(idx);
const auto &stamp = timestamps.at(idx);
const auto pose = Sophus::SE3d::exp((stamp - mid_pose_stamp) * motion);
const auto pose = inverse_motion * Sophus::SE3d::exp(stamp * omega);
deskewed_frame.at(idx) = pose * point;
};
});
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