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Fix negative translation value in OBCameraNode

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Joe Dong
2024-07-10 15:28:09 +08:00
parent 20f51edb2b
commit 2e708d81e2
1 changed files with 1 additions and 0 deletions
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orbbec_camera/src/ob_camera_node.cpp
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@@ -2176,6 +2176,7 @@ void OBCameraNode::calcAndPublishStaticTransform() {
"Failed to get " << frame_id << " extrinsic: " << e.getMessage()); "Failed to get " << frame_id << " extrinsic: " << e.getMessage());
ex = OBExtrinsic({{1, 0, 0, 0, 1, 0, 0, 0, 1}, {0, 0, 0}}); ex = OBExtrinsic({{1, 0, 0, 0, 1, 0, 0, 0, 1}, {0, 0, 0}});
} }
ex.trans[0] = -std::abs( ex.trans[0]);
depth_to_other_extrinsics_[INFRA2] = ex; depth_to_other_extrinsics_[INFRA2] = ex;
auto ex_msg = obExtrinsicsToMsg(ex, frame_id); auto ex_msg = obExtrinsicsToMsg(ex, frame_id);
depth_to_other_extrinsics_publishers_[INFRA2]->publish(ex_msg); depth_to_other_extrinsics_publishers_[INFRA2]->publish(ex_msg);