提交更新

TrackingRosEx.cpp

@@ -136,9 +136,9 @@ void get_camera_tolidar_loc(float u, float v, float& x, float& y)
     Eigen::Vector3d loc_camera;
     loc_camera << outputUndistortedPoints[0].x, outputUndistortedPoints[0].y, 1;
     Eigen::Matrix<double, 3, 3> cam_trans;
-    cam_trans << 1.86058956e-04, 3.82316267e-03, -1.12943269e+01,
-        4.35386822e-03, -3.06011529e-04, -4.19144796e+00,
-        1.76998706e-04, -2.47942354e-03, 1.00000000e+00;
+    cam_trans << -9.45226729e-04, 1.47052793e-03, -6.82139902e+00,
+        3.47861584e-03, -6.79922279e-06, -3.46540530e+00,
+        -4.92494204e-06, -2.08367754e-03, 1.00000000e+00;
     auto trans_pos = cam_trans * loc_camera;
     double h = trans_pos[2];
     auto trans_pos_ = trans_pos / h;