提交更新

a9d2257d · oscar · c8026663 · a9d2257d
Commit a9d2257d authored Jan 12, 2022 by oscar
Hide whitespace changes
Inline Side-by-side

Showing with 4 additions and 4 deletions

TrackingRosEx.cpp TrackingRosEx.cpp +4 -4

No files found.
--- a/TrackingRosEx.cpp
+++ b/TrackingRosEx.cpp
@@ -143,12 +143,12 @@ void get_camera_tolidar_loc(float u, float v, float& x, float& y)
        -0.051827855408, -0.009013481438, 0.998615324497;
    Eigen::Vector3d T;
    T << -886.266723632813, 556.056396484375, -0.398632347584;
-    auto R_inv = R.inverse();
+    //auto R_inv = R.inverse();

-    auto P_ = R_inv * (trans_pos - T);
+    //auto P_ = R_inv * (trans_pos - T);

-    x = P_[0] - 3.5;
-    y = P_[1] + 0.4;
+    //x = P_[0] - 3.5;
+    //y = P_[1] + 0.4;
 }

 TrackingRos::~TrackingRos()