· 投影原理：点云世界坐标系 -> 相机坐标系 -> 像素坐标系； · 根据点的实际距离实现深度对应； · 激光雷达与相机视角融合，点云投影2D图像; · 使用cnn处理图像提取特征点，发布与雷达点云融合的点
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