Function Polylidar::MeshHelper::ExtractPointCloudFromFloatDepth

Function Documentation

std::vector<double> Polylidar::MeshHelper::ExtractPointCloudFromFloatDepth(const Matrix<float> &im, const Matrix<double> &intrinsics, const Matrix<double> &extrinsics, const size_t stride)

Extacts an organized point cloud from a depth image.

Parameters

  • im – The float depth image. Organized into rows and columns and gives distance along z-axis to surface

  • intrinsics – Intrinsics of the camera sensor (3 X 3)

  • extrinsics – Extrinsics of the camera, send identity matrix when in doubt (4 X 4)

  • stride – Can stride over rows/cols for faster computation

Returns

std::vector<double>