From 1f38e90fdde6b0de0af4afd8509ff93eecf7fab7 Mon Sep 17 00:00:00 2001 From: fherrero <fherrero@iri.upc.edu> Date: Thu, 25 Oct 2018 13:09:39 +0200 Subject: [PATCH] Fixed markers: map_points coordinates and frame --- src/visual_gps_alg_node.cpp | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/src/visual_gps_alg_node.cpp b/src/visual_gps_alg_node.cpp index d41a0d2..90fd14b 100644 --- a/src/visual_gps_alg_node.cpp +++ b/src/visual_gps_alg_node.cpp @@ -382,7 +382,7 @@ void VisualGpsAlgNode::publish_markers(std::vector<cv::Point3f> map_points, std: for(uint i=0; i<map_points.size(); i++) { visualization_msgs::Marker marker; - marker.header.frame_id = this->config_.base_frame; + marker.header.frame_id = this->config_.map_frame; marker.ns = "map"; marker.id = i; marker.header.stamp = ros::Time::now(); @@ -391,9 +391,9 @@ void VisualGpsAlgNode::publish_markers(std::vector<cv::Point3f> map_points, std: marker.scale.x = 0.6; marker.scale.y = 0.6; marker.scale.z = 0.1; - marker.pose.position.x = img_points[i].x; - marker.pose.position.y = img_points[i].y; - marker.pose.position.z = img_points[i].z; + marker.pose.position.x = map_points[i].x; + marker.pose.position.y = map_points[i].y; + marker.pose.position.z = map_points[i].z; marker.pose.orientation.x = 0.0; marker.pose.orientation.y = 0.0; marker.pose.orientation.z = 0.0; -- GitLab