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ndt_mapping: fix no output of transformation matrix #60
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I encountered this problem too, thanks for the solution |
Great to help you. |
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@Kin-Zhang Thank you for the fix! Please sign your commits (see the DCO item below for details). This will be included in the 1.15.1 release. |
In version 1.14, ndt_mapping.cpp rewrite the tf things, but it forgot to compute
```cpp
tf_btol = (tl_btol * rot_z_btol * rot_y_btol * rot_x_btol).matrix();
tf_ltob = tf_btol.inverse();
```
so it still need get previous tf thing and use it to compute tf_ltob and then we will have the output of transformation matrix
Signed-off-by: Kin <[email protected]>
Kin-Zhang
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Thanks for replying, and happy to contribute. |
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Bug fix
Fixed bug
In version 1.14, ndt_mapping.cpp rewrite the tf things, but it forgot to compute
tf_btol = (tl_btol * rot_z_btol * rot_y_btol * rot_x_btol).matrix(); tf_ltob = tf_btol.inverse();so it still need to get the previous tf thing and use it to compute tf_ltob and then we will have the output of the transformation matrix
Relate issue:
#58