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correct getOdom issue

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This commit is contained in:
gfuse
2021-08-20 09:08:14 +02:00
parent aaa4a30716
commit c36a80d1d0
1 changed files with 2 additions and 2 deletions
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GPU_version/vio/src/vo_node.cpp
+2 -2
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@@ -184,8 +184,8 @@ bool VioNode::getOdom(vio::getOdom::Request &req, vio::getOdom::Response &res) {
res.header.frame_id = "/world"; res.header.frame_id = "/world";
res.header.seq = trace_id_; res.header.seq = trace_id_;
auto odom=vo_->ukfPtr_.get_location(); auto odom=vo_->ukfPtr_.get_location();
res.x=odom.second.translation()(0); res.x=-odom.second.se2().translation()(0);
res.y=odom.second.translation()(1); res.y=-odom.second.se2().translation()(1);
res.yaw=odom.second.pitch(); res.yaw=odom.second.pitch();
res.cov={odom.first(0,0),odom.first(0,1),odom.first(0,2), 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), odom.first(1,0),odom.first(1,1),odom.first(1,2),