| 36 | } |
| 37 | |
| 38 | std::list<const RichPoint*> Cloud::PointsProjectedToPixel(int row, |
| 39 | int col) const { |
| 40 | std::list<const RichPoint*> point_list; |
| 41 | if (!_projection) { |
| 42 | return point_list; |
| 43 | } |
| 44 | for (const auto& index : _projection->at(row, col).points()) { |
| 45 | point_list.push_back(&_points[index]); |
| 46 | } |
| 47 | return point_list; |
| 48 | } |
| 49 | |
| 50 | void Cloud::TransformInPlace(const Pose& pose) { |
| 51 | for (auto& point : _points) { |