From 05995299783da651a1023d960966d795e2f73c37 Mon Sep 17 00:00:00 2001 From: Benedikt Mersch Date: Sun, 6 Apr 2025 10:09:16 +0200 Subject: [PATCH] Move deskewing --- src/mos4d/odometry.py | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/mos4d/odometry.py b/src/mos4d/odometry.py index 85fe4bc..daa6abe 100644 --- a/src/mos4d/odometry.py +++ b/src/mos4d/odometry.py @@ -70,8 +70,6 @@ def register_points(self, points, timestamps, scan_index): kernel=sigma / 3, ) - point_deskewed = self.deskew(points, timestamps, self.last_delta) - # Compute the difference between the prediction and the actual estimate model_deviation = np.linalg.inv(initial_guess) @ new_pose @@ -81,7 +79,9 @@ def register_points(self, points, timestamps, scan_index): self.last_delta = np.linalg.inv(self.last_pose) @ new_pose self.last_pose = new_pose - return self.transform(point_deskewed, self.last_pose) + points_deskewed = self.deskew(points, timestamps, self.last_delta) + + return self.transform(points_deskewed, self.last_pose) def transform(self, points, pose): points_hom = np.hstack((points, np.ones((len(points), 1))))