最终版

TrackingRosEx.cpp

@@ -232,8 +232,8 @@ void get_camera_left_tolidar_loc(float u, float v, float& x, float& y)
     auto sry = (-relaty) * cos(M_PI / 4) - (-relatx) * sin(M_PI / 4);
     //srx = srx + 5;
     //sry = sry + 5*( u < 700 ? 1 : (1 + (u - 700)/240));
-    x = srx ;
-    y = sry ;
+    x = srx + 4 ;
+    y = sry + 2 ;
 }
 
 TrackingRos::~TrackingRos()
@@ -693,7 +693,7 @@ objTrackListPtr TrackingRos::GetNearestCloudMsg(unsigned long long timestamp)
     {
         //unsigned long long time_s = m_objsCloudQueue[i]->cloud.header.stamp.toSec() * 1000000;
         unsigned long long time_s = (unsigned long long)m_objsCloudQueue[i]->cloud.header.stamp.sec * 1000000 + (unsigned long long)m_objsCloudQueue[i]->cloud.header.stamp.nsec* 1e-3 + 100;
-        if (labs(timestamp - time_s) < std::min(100, interval))
+        if (labs(timestamp - time_s) < std::min(500, interval))
         {
             msg = m_objsCloudQueue[i];
             findIdx = i;