From 45915823318349458a494aaca1eb3639a4dad3ed Mon Sep 17 00:00:00 2001 From: William Reynaldi Solichin <34166338+wrsolichin@users.noreply.github.com> Date: Wed, 8 Jan 2025 18:07:46 +0000 Subject: [PATCH] Fix incorrect default sensors transform for beam and IMU (#635) [BUGFIX] The default values of the IMU to sensor transform and beam to LiDAR transform is incorrect, they are swapped. --- ouster_client/src/sensor_info.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/ouster_client/src/sensor_info.cpp b/ouster_client/src/sensor_info.cpp index bb4c0740..4b9ea832 100644 --- a/ouster_client/src/sensor_info.cpp +++ b/ouster_client/src/sensor_info.cpp @@ -105,9 +105,9 @@ sensor_info default_sensor_info(lidar_mode mode) { info.beam_altitude_angles = gen1_altitude_angles; info.lidar_origin_to_beam_origin_mm = default_lidar_origin_to_beam_origin(info.prod_line); - info.beam_to_lidar_transform = default_imu_to_sensor_transform; - info.imu_to_sensor_transform = + info.beam_to_lidar_transform = default_beam_to_lidar_transform(info.prod_line); + info.imu_to_sensor_transform = default_imu_to_sensor_transform; info.lidar_to_sensor_transform = default_lidar_to_sensor_transform; info.extrinsic = mat4d::Identity(); info.init_id = 0;