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1270e60a · oscar · 7c0ef06e · 1270e60a
Commit 1270e60a authored Jan 17, 2022 by oscar
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Showing with 3 additions and 3 deletions

TrackingRosEx.cpp TrackingRosEx.cpp +3 -3

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--- a/TrackingRosEx.cpp
+++ b/TrackingRosEx.cpp
@@ -216,10 +216,10 @@ void get_camera_left_tolidar_loc(float u, float v, float& x, float& y)

    auto srx = (-relatx) * cos(M_PI / 4) + (-relaty) * sin(M_PI / 4);
    auto sry = (-relaty) * cos(M_PI / 4) - (-relatx) * sin(M_PI / 4);
-    srx = srx;
-    sry = sry;
+    srx = srx + 5;
+    sry = sry + 5*( u < 700 ? 1 : (1 + (u - 700)/240));
    x = srx ;
-    y = sry + 20;
+    y = sry ;
 }

 TrackingRos::~TrackingRos()