随后,我们可以定义以下函数,将三维激光扫描点 \mathbf{X}_{i}^{L} 从LiDAR坐标系 L 转换为相机坐标系 C ,并将其投影到图像平面上(即,规范化坐标,使z坐标为1): \left(\begin{array}{c} \tilde{x}_{i}^{C} \\ \tilde{y}_{i}^{C} \end{array}\right)=\mathbf{f}_{\text {proj }}\left...
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