From dd50584d94849f38acd2cf4111542d2c00685e45 Mon Sep 17 00:00:00 2001 From: Benedikt Mersch Date: Sun, 6 Apr 2025 11:09:51 +0200 Subject: [PATCH] Revert "Move deskewing (#49)" This reverts commit 7244238be3d9c0d27b819c0b6d3f91c9da9b0947. --- 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 daa6abe..85fe4bc 100644 --- a/src/mos4d/odometry.py +++ b/src/mos4d/odometry.py @@ -70,6 +70,8 @@ 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 @@ -79,9 +81,7 @@ def register_points(self, points, timestamps, scan_index): self.last_delta = np.linalg.inv(self.last_pose) @ new_pose self.last_pose = new_pose - points_deskewed = self.deskew(points, timestamps, self.last_delta) - - return self.transform(points_deskewed, self.last_pose) + return self.transform(point_deskewed, self.last_pose) def transform(self, points, pose): points_hom = np.hstack((points, np.ones((len(points), 1))))