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Fix plane detection #934

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Merged
Myzhar merged 2 commits into from
Feb 24, 2024
Merged

Fix plane detection #934

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ac82650
Fix plane detection bug
Myzhar Feb 24, 2024
f36a480
Merge branch 'master' into fix_plane_detection
Myzhar Feb 24, 2024
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2 changes: 1 addition & 1 deletion zed_nodelets/src/zed_nodelet/src/zed_wrapper_nodelet.cpp
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Expand Up @@ -5266,7 +5266,7 @@ void ZEDWrapperNodelet::clickedPtCallback(geometry_msgs::PointStampedConstPtr ms
float c_x = zedParam.left_cam.cx;
float c_y = zedParam.left_cam.cy;

float out_scale_factor = mMatResol.width / mCamWidth;
float out_scale_factor = static_cast<float>(mMatResol.width) / mCamWidth;

float u = ((camX / camZ) * f_x + c_x) / out_scale_factor;
float v = ((camY / camZ) * f_y + c_y) / out_scale_factor;
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