From 7153664dc4673b772d69e81a258d14d8ae0a48d6 Mon Sep 17 00:00:00 2001 From: David Wong Date: Mon, 25 Dec 2023 20:59:57 +0900 Subject: [PATCH] test: change innovusion frame to more standard lidar frame Signed-off-by: David Wong --- .../decoders/innovusion_decoder.cpp | 9 ++++++--- 1 file changed, 6 insertions(+), 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 index 65f9675b3..2a003a850 100644 --- 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); } }