提交更新

TrackingRosEx.cpp

@@ -151,10 +151,10 @@ void CalculateGuassPos(jfx_common_msgs::det_tracking& obj,std::vector<std::vecto
 
 void get_camera_tolidar_loc(float u, float v, float& x, float& y)
 {
-    float camera[5] = { -3.0546708753769027e+00, 2.8235384675530199e+01,1.5164164709152357e-02, -1.4151304833353489e-04,-5.3523523223247594e+02 };    //摄像机内参数矩阵K
-    cv::Mat cameraMatrix = cv::Mat(5, 1, CV_32F, camera);    //内参数K Mat类型变量
-    float dist[3][3] = { 1.1775635693883434e+04, 0.0, 9.6852512890598337e+02,0.0,4.3425255703581051e+03, 5.4191193116052807e+02,0.0, 0.0, 1.0 };
-    cv::Mat distCoeffs = cv::Mat(3, 3, CV_32F, dist);
+    float camera[3][3] = { 1.1775635693883434e+04, 0.0, 9.6852512890598337e+02,0.0,4.3425255703581051e+03, 5.4191193116052807e+02,0.0, 0.0, 1.0 };
+    cv::Mat cameraMatrix = cv::Mat(3, 3, CV_32F, camera);
+    float dist[5] = { -3.0546708753769027e+00, 2.8235384675530199e+01,1.5164164709152357e-02, -1.4151304833353489e-04,-5.3523523223247594e+02 };    //摄像机内参数矩阵K
+    cv::Mat distCoeffs = cv::Mat(1, 5, CV_32F, dist);    //内参数K Mat类型变量
 
     std::vector<cv::Point2f> inputDistortedPoints;
     std::vector<cv::Point2f> outputUndistortedPoints;