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Resolve Bolt's coordinate abnormality issue.

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lixiaobin
2023-12-20 09:21:48 +08:00
parent 67cc44f82e
commit 9ddd0a764b
1 changed files with 1 additions and 0 deletions
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orbbec_camera/src/ob_camera_node.cpp
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@@ -1259,6 +1259,7 @@ void OBCameraNode::calcAndPublishStaticTransform() {
"transform x " << ex.trans[0] << " y " << ex.trans[1] << " z " << trans[2]); "transform x " << ex.trans[0] << " y " << ex.trans[1] << " z " << trans[2]);
Q = rotationMatrixToQuaternion(ex.rot); Q = rotationMatrixToQuaternion(ex.rot);
Q = quaternion_optical * Q * quaternion_optical.inverse(); Q = quaternion_optical * Q * quaternion_optical.inverse();
Q = Q.inverse();
trans[0] = ex.trans[0]; trans[0] = ex.trans[0];
trans[1] = ex.trans[1]; trans[1] = ex.trans[1];
trans[2] = ex.trans[2]; trans[2] = ex.trans[2];