add yolo + mot cpp into driver

2026-04-10 14:37:41 +08:00
parent 3659ffd110
commit 347a6a12e0
9 changed files with 721 additions and 97 deletions
@@ -65,6 +65,12 @@ public:
    cv::Mat reprojectCloudDepth(const pcl::PointCloud<pcl::PointXYZRGB>& cloud_odom,
                                const OdomPose& odom_pose);

+    Eigen::Vector2d projectCameraPointToPixel(const Eigen::Vector3d& point_cam) const;
+    Eigen::Vector3d pixelToCameraRay(double u, double v) const;
+    Eigen::Vector3d pixelToCameraPoint(double u, double v, double depth_z) const;
+    Eigen::Vector3d cameraPointToWorld(const Eigen::Vector3d& point_cam,
+                                       const OdomPose& odom_pose) const;
+
    void setPointRadius(int radius) { point_radius_ = radius; }
    int getPointRadius() const { return point_radius_; }