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Move deskewing #49

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Merged
benemer merged 1 commit into from
Apr 6, 2025
Merged

Move deskewing #49

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6 changes: 3 additions & 3 deletions src/mos4d/odometry.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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

Expand All @@ -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))))
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