提交调整

TrackingRosEx.cpp

@@ -144,8 +144,9 @@ void get_camera_tolidar_loc(float u, float v, float& x, float& y)
     auto trans_pos_ = trans_pos / h;
     x = trans_pos_[0];
     y = trans_pos_[1];
-    x = x < 30 ? x : (x + (x-25)/5);
-    y = y > 0 ? (y + 2* abs(y)/10) : (y - 2* abs(y)/10);
+    x = x < 30 ? x + x/20 : (x + (x-25)/5);
+    if(x < 30)
+        y = y > 0 ? (y + 2* abs(y)/10) : (y - 2* abs(y)/10);
     //Eigen::Matrix<double, 3, 3> cam_trans;
     //cam_trans << -6.60431137e-02, 1.93080567e+00, -8.78993882e+02,//camera to point cloud transfrom
     //    3.81973306e-02, -1.21347206e+00, 5.53062060e+02,