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1793c0b3 · oscar · 8533719a · 1793c0b3
Commit 1793c0b3 authored Jan 17, 2022 by oscar
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TrackingRosEx.cpp TrackingRosEx.cpp +3 -1

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--- a/TrackingRosEx.cpp
+++ b/TrackingRosEx.cpp
@@ -501,8 +501,10 @@ void TrackingRos::TrackingCameraCallBackFunc(const jfx_common_msgs::InferResesCo
                    {
                        if(m_camera_one_center_type == 1 || m_camera_one_center_type == 2)
                            bottom_center_x = x1 + (bottom_center_x / 1920) * (x2 - x1);
-                        if(m_camera_one_center_type == 2)
+                        if (m_camera_one_center_type == 2)
                            bottom_center_y = (float(y1) + float(y2)) / 2;
+                        else if (m_camera_one_center_type == 1)
+                            bottom_center_y += (y2 - y1) / 2 * (abs(bottom_center_x - 960) / 960);
                        get_camera_tolidar_loc(bottom_center_x, bottom_center_y, x, y);
                    }
                    else if (i == 1)