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4f0df770 · oscar · d23a693b · 4f0df770
Commit 4f0df770 authored Dec 23, 2021 by oscar
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Showing with 2 additions and 2 deletions

TrackingRos.cpp TrackingRos.cpp +2 -2

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--- a/TrackingRos.cpp
+++ b/TrackingRos.cpp
@@ -66,8 +66,8 @@ void my_compute_box_3d(Eigen::Vector3f center, float heading, Eigen::Vector3f si

    auto tmp4x4 = S * corners_3d;
    auto world_corners_3d = Trans * tmp4x4;
-    world_corners_3d = Kit2Ori * world_corners_3d;
-    res_corners_3d = world_corners_3d.block(0, 0, 3, 8).transpose();
+    auto world_origin_3d = Kit2Ori * world_corners_3d;
+    res_corners_3d = world_origin_3d.block(0, 0, 3, 8).transpose();
 }