提交更新

TrackingRosEx.cpp

@@ -136,9 +136,9 @@ void get_camera_tolidar_loc(float u, float v, float& x, float& y)
     Eigen::Vector3d loc_camera;
     loc_camera << outputUndistortedPoints[0].x, outputUndistortedPoints[0].y, 1;
     Eigen::Matrix<double, 3, 3> cam_trans;
-    cam_trans << -2.81227713e-04, 1.00961676e-03, -6.79337876e+00,
-        3.30666352e-03, 1.86212238e-04, -3.54019041e+00,
-        8.41395110e-05, -2.14260840e-03, 1.00000000e+00;
+    cam_trans << 1.86058956e-04, 3.82316267e-03, -1.12943269e+01,
+        4.35386822e-03, -3.06011529e-04, -4.19144796e+00,
+        1.76998706e-04, -2.47942354e-03, 1.00000000e+00;
     auto trans_pos = cam_trans * loc_camera;
     double h = trans_pos[2];
     auto trans_pos_ = trans_pos / h;