From 2a83bc7f0773949b0741c125a9dcbaf037ebffd1 Mon Sep 17 00:00:00 2001 From: matlabbe Date: Wed, 9 Mar 2016 11:45:26 -0500 Subject: [PATCH] Update util3d.h --- corelib/include/rtabmap/core/util3d.h | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/corelib/include/rtabmap/core/util3d.h b/corelib/include/rtabmap/core/util3d.h index f23d8ff4..c67d7a19 100644 --- a/corelib/include/rtabmap/core/util3d.h +++ b/corelib/include/rtabmap/core/util3d.h @@ -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::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(