估计从激光雷达传感器到摄像机的刚性转换
利用从每个传感器提取的棋盘格校准模式特征估计激光雷达传感器和摄像机之间的转换。tform
= estimateLidarCameraTransform (ptCloudPlanes
,imageCorners3d
)
bboxCameraToLidar
|detectRectangularPlanePoints
|estimateCheckerboardCorners3d
|fuseCameraToLidar
|projectLidarPointsOnImage