test: change innovusion frame to more standard lidar frame

Signed-off-by: David Wong <[email protected]>
tier4 · Dec 25, 2023 · 7153664 · 7153664
1 parent 743b544
commit 7153664
Showing 1 changed file with 6 additions and 3 deletions.
diff --git a/nebula_decoders/src/nebula_decoders_innovusion/decoders/innovusion_decoder.cpp b/nebula_decoders/src/nebula_decoders_innovusion/decoders/innovusion_decoder.cpp
@@ -77,9 +77,12 @@ void InnovusionDecoder::point_xyz_data_parse_(bool is_en_data, bool is_use_refl,
 
     point.time_stamp = point_ptr->ts_10us / ten_us_in_second_c + current_ts_start_;
     point.distance = point_ptr->radius;
-    point.x = point_ptr->x;
-    point.y = point_ptr->y;
-    point.z = point_ptr->z;
+    // point.x = point_ptr->x;
+    // point.y = point_ptr->y;
+    // point.z = point_ptr->z;
+    point.x = point_ptr->z;
+    point.y = -(point_ptr->y);
+    point.z = point_ptr->x;
     decode_pc_->points.emplace_back(point);
   }
 }