提交更新

TrackingRosEx.cpp

@@ -137,7 +137,7 @@ void get_camera_tolidar_loc(float u, float v, float& x, float& y)
         7.08859171e-05, -2.17867524e-03, 1.00000000e+00;
     auto trans_pos = cam_trans * loc_camera;
     double h = trans_pos[2];
-    //trans_pos = trans_pos / h;
+    auto trans_pos_ = trans_pos / h;
     //Eigen::Matrix<double, 3, 3> R;
     //R << -0.602479577065, -0.797206640244, -0.038464091718,
     //    0.796449661255, -0.603639006615, 0.035887073725,