From ef1166e85b0221f64e7120cf19c83e4aa581a227 Mon Sep 17 00:00:00 2001
From: Kai Junge <kai.junge@epfl.ch>
Date: Thu, 6 Feb 2025 13:42:44 +0100
Subject: [PATCH] Working version of optitrack streamer as one node.
---
optitrack_streamer/optitrack_streamer_node.py | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/optitrack_streamer/optitrack_streamer_node.py b/optitrack_streamer/optitrack_streamer_node.py
index fad5529..2a6120c 100644
--- a/optitrack_streamer/optitrack_streamer_node.py
+++ b/optitrack_streamer/optitrack_streamer_node.py
@@ -90,7 +90,7 @@ class OptitrackStreamerNode(Node):
self.get_logger().info("Reset!", throttle_duration_sec = 1)
initial_rotation = R.from_quat(cp(raw["r"]))
- self.calib_rotation = initial_rotation.inv() #* initial_rotation
+ self.calib_rotation = initial_rotation.inv()
try:
aligned = R.from_quat(raw["r"]) * self.calib_rotation
--
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