diff --git a/sourceCode/SG_bagPositioning.cpp b/sourceCode/SG_bagPositioning.cpp
index d7ee30f..fd6a229 100644
--- a/sourceCode/SG_bagPositioning.cpp
+++ b/sourceCode/SG_bagPositioning.cpp
@@ -2879,8 +2879,8 @@ if (hLine == 14)
 				featureMask.at<cv::Vec4i>(a_feature->jumpPos2D.y, a_feature->jumpPos2D.x)[1] = a_vEdgeTree->treeType;
 				featureMask.at<cv::Vec4i>(a_feature->jumpPos2D.y, a_feature->jumpPos2D.x)[2] = 1;  //vscan
 
-				int px = (int)(laser3DPoints[a_feature->jumpPos2D.x].p3DPosition[a_feature->jumpPos2D.y].pt3D.x - x_range.min);
-				int py = (int)(laser3DPoints[a_feature->jumpPos2D.x].p3DPosition[a_feature->jumpPos2D.y].pt3D.y - y_range.min);
+				int px = (int)(laser3DPoints[a_feature->jumpPos2D.x].p3DPosition[a_feature->jumpPos2D.y].pt3D.x - x_range.min) + x_skip;
+				int py = (int)(laser3DPoints[a_feature->jumpPos2D.x].p3DPosition[a_feature->jumpPos2D.y].pt3D.y - y_range.min) + y_skip;
 				distTranformMask.at<float>(py, px) = 0;
 			}
 		}
@@ -2939,8 +2939,8 @@ if (hLine == 14)
 				featureMask.at<cv::Vec4i>(a_feature->jumpPos2D.y, a_feature->jumpPos2D.x)[1] = a_vEdgeTree->treeType;
 				featureMask.at<cv::Vec4i>(a_feature->jumpPos2D.y, a_feature->jumpPos2D.x)[2] = 1;  //vscan
 
-				int px = (int)(laser3DPoints[a_feature->jumpPos2D.x].p3DPosition[a_feature->jumpPos2D.y].pt3D.x - x_range.min);
-				int py = (int)(laser3DPoints[a_feature->jumpPos2D.x].p3DPosition[a_feature->jumpPos2D.y].pt3D.y - y_range.min);
+				int px = (int)(laser3DPoints[a_feature->jumpPos2D.x].p3DPosition[a_feature->jumpPos2D.y].pt3D.x - x_range.min)+ x_skip;
+				int py = (int)(laser3DPoints[a_feature->jumpPos2D.x].p3DPosition[a_feature->jumpPos2D.y].pt3D.y - y_range.min) + y_skip;
 				distTranformMask.at<float>(py, px) = 0;
 			}
 		}
@@ -3005,8 +3005,8 @@ if (hLine == 14)
 					featureMask.at<cv::Vec4i>(a_feature->jumpPos2D.x, a_feature->jumpPos2D.y)[1] += a_hEdgeTree->treeType << 4;
 					featureMask.at<cv::Vec4i>(a_feature->jumpPos2D.x, a_feature->jumpPos2D.y)[2] = 2;//hsan flag
 
-					int px = (int)(laser3DPoints[a_feature->jumpPos2D.y].p3DPosition[a_feature->jumpPos2D.x].pt3D.x - x_range.min);
-					int py = (int)(laser3DPoints[a_feature->jumpPos2D.y].p3DPosition[a_feature->jumpPos2D.x].pt3D.y - y_range.min);
+					int px = (int)(laser3DPoints[a_feature->jumpPos2D.y].p3DPosition[a_feature->jumpPos2D.x].pt3D.x - x_range.min) + x_skip;
+					int py = (int)(laser3DPoints[a_feature->jumpPos2D.y].p3DPosition[a_feature->jumpPos2D.x].pt3D.y - y_range.min) + y_skip;
 					distTranformMask.at<float>(py, px) = 0;
 				}
 			}
@@ -3071,8 +3071,8 @@ if (hLine == 14)
 					featureMask.at<cv::Vec4i>(a_feature->jumpPos2D.x, a_feature->jumpPos2D.y)[1] += a_hEdgeTree->treeType << 4;
 					featureMask.at<cv::Vec4i>(a_feature->jumpPos2D.x, a_feature->jumpPos2D.y)[2] = 2;//hsan flag
 
-					int px = (int)(laser3DPoints[a_feature->jumpPos2D.y].p3DPosition[a_feature->jumpPos2D.x].pt3D.x - x_range.min);
-					int py = (int)(laser3DPoints[a_feature->jumpPos2D.y].p3DPosition[a_feature->jumpPos2D.x].pt3D.y - y_range.min);
+					int px = (int)(laser3DPoints[a_feature->jumpPos2D.y].p3DPosition[a_feature->jumpPos2D.x].pt3D.x - x_range.min) + x_skip;
+					int py = (int)(laser3DPoints[a_feature->jumpPos2D.y].p3DPosition[a_feature->jumpPos2D.x].pt3D.y - y_range.min) + y_skip;
 					distTranformMask.at<float>(py, px) = 0;
 
 				}
@@ -3113,8 +3113,8 @@ if (hLine == 14)
 					featureMask.at<cv::Vec4i>(a_feature->jumpPos2D.y, a_feature->jumpPos2D.x)[1] = a_vTree->treeType;
 					featureMask.at<cv::Vec4i>(a_feature->jumpPos2D.y, a_feature->jumpPos2D.x)[2] = 1;  //vscan
 
-					int px = (int)(laser3DPoints[a_feature->jumpPos2D.x].p3DPosition[a_feature->jumpPos2D.y].pt3D.x - x_range.min);
-					int py = (int)(laser3DPoints[a_feature->jumpPos2D.x].p3DPosition[a_feature->jumpPos2D.y].pt3D.y - y_range.min);
+					int px = (int)(laser3DPoints[a_feature->jumpPos2D.x].p3DPosition[a_feature->jumpPos2D.y].pt3D.x - x_range.min) + x_skip;
+					int py = (int)(laser3DPoints[a_feature->jumpPos2D.x].p3DPosition[a_feature->jumpPos2D.y].pt3D.y - y_range.min) + y_skip;
 					distTranformMask.at<float>(py, px) = 0;
 				}
 			}
@@ -3154,8 +3154,8 @@ if (hLine == 14)
 					featureMask.at<cv::Vec4i>(a_feature->jumpPos2D.x, a_feature->jumpPos2D.y)[1] += a_hTree->treeType << 4;
 					featureMask.at<cv::Vec4i>(a_feature->jumpPos2D.x, a_feature->jumpPos2D.y)[2] = 2;//hsan flag
 
-					int px = (int)(laser3DPoints[a_feature->jumpPos2D.y].p3DPosition[a_feature->jumpPos2D.x].pt3D.x - x_range.min);
-					int py = (int)(laser3DPoints[a_feature->jumpPos2D.y].p3DPosition[a_feature->jumpPos2D.x].pt3D.y - y_range.min);
+					int px = (int)(laser3DPoints[a_feature->jumpPos2D.y].p3DPosition[a_feature->jumpPos2D.x].pt3D.x - x_range.min) + x_skip;
+					int py = (int)(laser3DPoints[a_feature->jumpPos2D.y].p3DPosition[a_feature->jumpPos2D.x].pt3D.y - y_range.min) + y_skip;
 					distTranformMask.at<float>(py, px) = 0;
 				}
 			}