提交更新

TrackingRosEx.cpp

@@ -154,6 +154,7 @@ void get_camera_tolidar_loc(float u, float v, float& x, float& y)
 }
 void get_camera_right_tolidar_loc(float u, float v, float& x, float& y)
 {
+    SDK_LOG(SDK_INFO, "get_camera_right_tolidar_loc u= %f,v = %f",u,v);
     float camera[3][3] = { 6.3504560297918590e+02, 0.0, 6.2178154273047369e+02,0.0, 6.3430547692629773e+02, 3.6059071556316638e+02,0.0, 0.0, 1.0 };
     cv::Mat cameraMatrix = cv::Mat(3, 3, CV_32F, camera);
     float dist[5] = { -2.8832763961089897e-01, 7.8904579864635727e-02,-3.3990455415458144e-05, 8.6290635804868075e-04,-9.5910232578267241e-03 };    //摄像机内参数矩阵K
@@ -184,6 +185,7 @@ void get_camera_right_tolidar_loc(float u, float v, float& x, float& y)
     sry = sry - 1;
     x = srx;
     y = sry;
+    SDK_LOG(SDK_INFO, "get_camera_right_tolidar_loc end x= %f,y = %f", x, y);
 }
 
 void get_camera_left_tolidar_loc(float u, float v, float& x, float& y)