updating getTransformationFromBodyToImu

wjay88 · May 20, 2022 · 0230eed · 0230eed
1 parent 15acf22
commit 0230eed
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/aslam_offline_calibration/kalibr/python/kalibr_imu_camera_calibration/IccSensors.py b/aslam_offline_calibration/kalibr/python/kalibr_imu_camera_calibration/IccSensors.py
@@ -776,8 +776,8 @@ def getTransformationFromBodyToImu(self):
         if self.isReferenceImu:
             return sm.Transformation()
         return sm.Transformation(sm.r2quat(self.q_i_b_Dv.toRotationMatrix()) , \
-                                 np.dot(self.q_i_b_Dv.toRotationMatrix(), \
-                                        self.r_b_Dv.toEuclidean()))
+                                 - np.dot(self.q_i_b_Dv.toRotationMatrix(), \
+                                          self.r_b_Dv.toEuclidean()))
 
     def findOrientationPrior(self, referenceImu):
         print("")