From c36a80d1d0334c876f490fb7917c94e7033b93a9 Mon Sep 17 00:00:00 2001 From: gfuse Date: Fri, 20 Aug 2021 09:08:14 +0200 Subject: [PATCH] correct getOdom issue --- GPU_version/vio/src/vo_node.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/GPU_version/vio/src/vo_node.cpp b/GPU_version/vio/src/vo_node.cpp index 84bff44..0460c27 100644 --- a/GPU_version/vio/src/vo_node.cpp +++ b/GPU_version/vio/src/vo_node.cpp @@ -184,8 +184,8 @@ bool VioNode::getOdom(vio::getOdom::Request &req, vio::getOdom::Response &res) { res.header.frame_id = "/world"; res.header.seq = trace_id_; auto odom=vo_->ukfPtr_.get_location(); - res.x=odom.second.translation()(0); - res.y=odom.second.translation()(1); + res.x=-odom.second.se2().translation()(0); + res.y=-odom.second.se2().translation()(1); res.yaw=odom.second.pitch(); res.cov={odom.first(0,0),odom.first(0,1),odom.first(0,2), odom.first(1,0),odom.first(1,1),odom.first(1,2),