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jfx_kalman_filter_src
Commit f57640ee authored by oscar's avatar oscar
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提交左边相机图像调整。

parent 02c6f723
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Showing with 6 additions and 4 deletions
TrackingRosEx.cpp
View file @ f57640ee
......@@ -230,8 +230,8 @@ void get_camera_left_tolidar_loc(float u, float v, float& x, float& y)
auto srx = (-relatx) * cos(M_PI / 4) + (-relaty) * sin(M_PI / 4);
auto sry = (-relaty) * cos(M_PI / 4) - (-relatx) * sin(M_PI / 4);
srx = srx + 5;
sry = sry + 5*( u < 700 ? 1 : (1 + (u - 700)/240));
//srx = srx + 5;
//sry = sry + 5*( u < 700 ? 1 : (1 + (u - 700)/240));
x = srx ;
y = sry ;
}
......@@ -533,8 +533,10 @@ void TrackingRos::TrackingCameraCallBackFunc(const jfx_common_msgs::InferResesCo
{
if (area < MAXAREA)
continue;
bottom_center_x = x1;
bottom_center_y = y2;
if (m_camera_one_center_type == 1 || m_camera_one_center_type == 2)
bottom_center_x = x2 - ( (1280 - bottom_center_x) / 1280) * (x2 - x1) * 0.5;
//bottom_center_x = x1;
//bottom_center_y = y2;
get_camera_left_tolidar_loc(bottom_center_x, bottom_center_y, x, y);
}
if (i == 1 || i == 2)
......
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