从LIDAR传感器到相机估算刚性变换
使用从每个传感器提取的棋盘校准模式特征估计LIDAR传感器和相机之间的转换。tform
= rightatelidarcameratransform(ptCloudPlanes
那imageCorners3d
的)
detectRectangularPlanePoints
|emplateCheckerboardCorners3d.
|projectlidarpointsonimage.
|fusecameratolidar.
|Bboxcameratolidar.