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Update util3d.h

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matlabbe
2016-03-09 11:45:26 -05:00
parent c4ee125f73
commit 2a83bc7f07
1 changed files with 5 additions and 5 deletions
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corelib/include/rtabmap/core/util3d.h
+5 -5
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@@ -177,16 +177,16 @@ cv::Point3f RTABMAP_EXP projectDisparityTo3D(
// Register point cloud to camera (return registered depth image) // Register point cloud to camera (return registered depth image)
cv::Mat RTABMAP_EXP projectCloudToCamera( cv::Mat RTABMAP_EXP projectCloudToCamera(
const cv::Size & imageSize, const cv::Size & imageSize,
const cv::Mat & cameraMatrixK, // /base_link -> /camera_link const cv::Mat & cameraMatrixK,
const cv::Mat & laserScan, // assuming points are already in /base_link coordinate const cv::Mat & laserScan, // assuming points are already in /base_link coordinate
const rtabmap::Transform & cameraTransform); const rtabmap::Transform & cameraTransform); // /base_link -> /camera_link
// Register point cloud to camera (return registered depth image) // Register point cloud to camera (return registered depth image)
cv::Mat RTABMAP_EXP projectCloudToCamera( cv::Mat RTABMAP_EXP projectCloudToCamera(
const cv::Size & imageSize, 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 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) // Direction vertical (>=0), horizontal (<0)
void RTABMAP_EXP fillProjectedCloudHoles( void RTABMAP_EXP fillProjectedCloudHoles(