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correct visualization

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This commit is contained in:
gfuse
2021-06-29 10:27:59 +02:00
parent 43edfce29e
commit 46322cf74c
2 changed files with 2 additions and 2 deletions
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GPU_version/vio/param/vo_fast.yaml
+1 -1
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@@ -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
GPU_version/vio/src/visualizer.cpp
+1 -1
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@@ -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();