提交更新

TrackingRosEx.cpp

@@ -136,13 +136,13 @@ void get_camera_tolidar_loc(float u, float v, float& x, float& y)
         3.81973306e-02, -1.21347206e+00, 5.53062060e+02,
         7.08859171e-05, -2.17867524e-03, 1.00000000e+00;
     auto trans_pos = cam_trans * loc_camera;
-    trans_pos /= trans_pos[2];
-    Eigen::Matrix<double, 3, 3> R;
-    R << -0.602479577065, -0.797206640244, -0.038464091718,
-        0.796449661255, -0.603639006615, 0.035887073725,
-        -0.051827855408, -0.009013481438, 0.998615324497;
-    Eigen::Vector3d T;
-    T << -886.266723632813, 556.056396484375, -0.398632347584;
+    //trans_pos /= trans_pos[2];
+    //Eigen::Matrix<double, 3, 3> R;
+    //R << -0.602479577065, -0.797206640244, -0.038464091718,
+    //    0.796449661255, -0.603639006615, 0.035887073725,
+    //    -0.051827855408, -0.009013481438, 0.998615324497;
+    //Eigen::Vector3d T;
+    //T << -886.266723632813, 556.056396484375, -0.398632347584;
     //auto R_inv = R.inverse();
 
     //auto P_ = R_inv * (trans_pos - T);