add online cloud reprojection

2026-04-08 14:27:30 +08:00
parent 0ec1300ab5
commit 6864f1114c
4 changed files with 63 additions and 17 deletions
@@ -54,6 +54,10 @@ public:

    bool initialize(const CameraParams& cam_params, const ExtrinsicParams& ext_params);

+    pcl::PointCloud<pcl::PointXYZRGB> transformCloudToCamera(
+        const pcl::PointCloud<pcl::PointXYZRGB>& cloud_odom,
+        const OdomPose& odom_pose) const;
+
    cv::Mat reprojectCloud(const pcl::PointCloud<pcl::PointXYZRGB>& cloud_odom,
                           const OdomPose& odom_pose);