i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 01:20:25 +08:00
Code Issues Packages Projects Releases Wiki Activity

Update util3d.h

Browse Source
This commit is contained in:
matlabbe
2016-03-09 11:45:26 -05:00
parent c4ee125f73
commit 2a83bc7f07
1 changed files with 5 additions and 5 deletions
Download Patch File Download Diff File Expand all files Collapse all files

10
corelib/include/rtabmap/core/util3d.h
View File

@@ -177,16 +177,16 @@ cv::Point3f RTABMAP_EXP projectDisparityTo3D(
// Register point cloud to camera (return registered depth image)
cv::Mat RTABMAP_EXP projectCloudToCamera(
const cv::Size & imageSize,
const cv::Mat & cameraMatrixK, // /base_link -> /camera_link
const cv::Mat & laserScan, // assuming points are already in /base_link coordinate
const rtabmap::Transform & cameraTransform);
const cv::Mat & cameraMatrixK,
const cv::Mat & laserScan, // assuming points are already in /base_link coordinate
const rtabmap::Transform & cameraTransform); // /base_link -> /camera_link
// Register point cloud to camera (return registered depth image)
cv::Mat RTABMAP_EXP projectCloudToCamera(
const cv::Size & imageSize,
const cv::Mat & cameraMatrixK, // /base_link -> /camera_link
const cv::Mat & cameraMatrixK,
const pcl::PointCloud<pcl::PointXYZ>::Ptr laserScan, // assuming points are already in /base_link coordinate
const rtabmap::Transform & cameraTransform);
const rtabmap::Transform & cameraTransform); // /base_link -> /camera_link
// Direction vertical (>=0), horizontal (<0)
void RTABMAP_EXP fillProjectedCloudHoles(