Update camFusion_Student.cpp

Fixed a bug in pixel coordinates
englucrai · Sep 15, 2020 · 60fe5c9 · 60fe5c9
1 parent f643cf4
commit 60fe5c9
Showing 1 changed file with 3 additions and 2 deletions.
diff --git a/src/camFusion_Student.cpp b/src/camFusion_Student.cpp
@@ -29,8 +29,9 @@ void clusterLidarWithROI(std::vector<BoundingBox> &boundingBoxes, std::vector<Li
         // project Lidar point into camera
         Y = P_rect_xx * R_rect_xx * RT * X;
         cv::Point pt;
-        pt.x = Y.at<double>(0, 0) / Y.at<double>(0, 2); // pixel coordinates
-        pt.y = Y.at<double>(1, 0) / Y.at<double>(0, 2);
+        // pixel coordinates
+        pt.x = Y.at<double>(0, 0) / Y.at<double>(2, 0); 
+        pt.y = Y.at<double>(1, 0) / Y.at<double>(2, 0); 
 
         vector<vector<BoundingBox>::iterator> enclosingBoxes; // pointers to all bounding boxes which enclose the current Lidar point
         for (vector<BoundingBox>::iterator it2 = boundingBoxes.begin(); it2 != boundingBoxes.end(); ++it2)