correctSSLiDARPoints.m

%{
 * Copyright (C) 2013-2025, The Regents of The University of Michigan.
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 * This software was developed in the Biped Lab (https://www.biped.solutions/) 
 * under the direction of Jessy Grizzle, grizzle@umich.edu. This software may 
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 * AUTHOR: Bruce JK Huang (bjhuang[at]umich.edu)
 * WEBSITE: https://www.brucerobot.com/
%}

function data = correctSSLiDARPoints(data, trained_delta)
    for i = 1: size(data, 2)
        if isempty(data(i).points)
            continue
        end
        patch_points = data(i).points;
        if trained_delta.delta(i).Affine == eye(4) % remove if no calibration parameters exists
            data(i).points = [];
        else
            data(i).points = trained_delta.delta(i).Affine * patch_points;
        end
    end
end