提交修改

TrackingRosEx.cpp

@@ -181,8 +181,8 @@ void get_camera_right_tolidar_loc(float u, float v, float& x, float& y)
 
     auto srx = (-relatx) * cos(2 * M_PI / 3) + (-relaty) * sin(2 * M_PI / 3);
     auto sry = (-relaty) * cos(2 * M_PI / 3) - (-relatx) * sin(2 * M_PI / 3);
-    srx = srx ;
-    sry = sry ;
+    srx = srx - 5;
+    sry = sry - 1;
     x = srx;
     y = sry;
     //SDK_LOG(SDK_INFO, "get_camera_right_tolidar_loc end x= %f,y = %f", x, y);
@@ -215,7 +215,7 @@ 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 ;
+    srx = srx + 8;
     sry = sry;
     x = srx;
     y = sry;