From 46322cf74c55a9723954013eb0d40bf21fa0def7 Mon Sep 17 00:00:00 2001 From: gfuse Date: Tue, 29 Jun 2021 10:27:59 +0200 Subject: [PATCH] correct visualization --- GPU_version/vio/param/vo_fast.yaml | 2 +- GPU_version/vio/src/visualizer.cpp | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/GPU_version/vio/param/vo_fast.yaml b/GPU_version/vio/param/vo_fast.yaml index 90df6be..99da116 100644 --- a/GPU_version/vio/param/vo_fast.yaml +++ b/GPU_version/vio/param/vo_fast.yaml @@ -11,5 +11,5 @@ svo: poseoptim_thresh: 4.0 ACC_noise: 0.1 #acc white noise in continuous in EKF GYO_noise: 0.1 #gyro white noise in continuous in EKF - svo_ekf: 20 #Svo noise that will be devided by number of Reprojected points after opmization in EKF + svo_ekf: 5 #Svo noise that will be devided by number of Reprojected points after opmization in EKF Cmd_Cov: 0.05 #control vector noise in EKF diff --git a/GPU_version/vio/src/visualizer.cpp b/GPU_version/vio/src/visualizer.cpp index 43bc4b1..95b3353 100644 --- a/GPU_version/vio/src/visualizer.cpp +++ b/GPU_version/vio/src/visualizer.cpp @@ -53,7 +53,7 @@ void Visualizer::publishMinimal( if(pub_pose_with_cov_.getNumSubscribers() > 0 && slam.stage() == FrameHandlerBase::STAGE_DEFAULT_FRAME) { // publish cam in world frame (Estimated odometry in the worls frame) - Quaterniond q(AngleAxisd(frame->T_f_w_.pitch(), Vector3d::UnitY())); + Quaterniond q(AngleAxisd(frame->T_f_w_.pitch(), Vector3d::UnitZ())); geometry_msgs::PoseWithCovarianceStampedPtr msg_pose_with_cov(new geometry_msgs::PoseWithCovarianceStamped); msg_pose_with_cov->header = header_msg; msg_pose_with_cov->pose.pose.position.x = frame->se3().translation().x();