tami/MYNT-EYE-S-SDK
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fix(*) s device slam error.

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This commit is contained in:
TinyO 2019-08-21 09:13:23 +08:00
parent 29a9895969
commit baa7243792
1 changed files with 3 additions and 3 deletions
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6
wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc
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@ -1491,9 +1491,9 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
l2i_msg.header.stamp = tf_stamp; l2i_msg.header.stamp = tf_stamp;
l2i_msg.header.frame_id = frame_ids_[Stream::LEFT]; l2i_msg.header.frame_id = frame_ids_[Stream::LEFT];
l2i_msg.child_frame_id = imu_frame_id_; l2i_msg.child_frame_id = imu_frame_id_;
l2i_msg.transform.translation.x = 0; l2i_msg.transform.translation.x = l2i_ex.translation[0];
l2i_msg.transform.translation.y = 0; l2i_msg.transform.translation.y = l2i_ex.translation[1];
l2i_msg.transform.translation.z = 0; l2i_msg.transform.translation.z = l2i_ex.translation[2];
if (l2i_ex.rotation[0][0] == 0 && l2i_ex.rotation[2][2] == 0) { if (l2i_ex.rotation[0][0] == 0 && l2i_ex.rotation[2][2] == 0) {
l2i_msg.transform.rotation.x = 0; l2i_msg.transform.rotation.x = 0;
l2i_msg.transform.rotation.y = 0; l2i_msg.transform.rotation.y = 0;