修改右相机的取点

TrackingRosEx.cpp

@@ -184,10 +184,10 @@ void get_camera_right_tolidar_loc(float u, float v, float& x, float& y)
 
     auto srx = (-relatx) * cos(2 * M_PI / 3) + (-relaty) * sin(2 * M_PI / 3);
     auto sry = (-relaty) * cos(2 * M_PI / 3) - (-relatx) * sin(2 * M_PI / 3);
-    srx = srx - 5;
-    sry = sry - 2;
-    x = srx;
-    y = sry;
+    srx = srx ;
+    sry = sry ;
+    x = -srx + 1;
+    y = -sry - 2;
     //SDK_LOG(SDK_INFO, "get_camera_right_tolidar_loc end x= %f,y = %f", x, y);
 }
 
@@ -509,8 +509,10 @@ void TrackingRos::TrackingCameraCallBackFunc(const jfx_common_msgs::InferResesCo
                     {
                         if (area < MAXAREA)
                             continue;
-                        bottom_center_x = x1;
-                        bottom_center_y = y1;
+                        if (m_camera_one_center_type == 1 || m_camera_one_center_type == 2)
+                            bottom_center_x = x1 + (bottom_center_x / 1280) * (x2 - x1) * 0.5;
+                        //bottom_center_x = x1;
+                        //bottom_center_y = y1;
                         get_camera_right_tolidar_loc(bottom_center_x, bottom_center_y, x, y);
                     }
                     else if (i == 2)