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Fix incorrect default sensors transform for beam and IMU #635

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Jan 8, 2025
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Fix incorrect default sensors transform for beam and IMU #635

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4 changes: 2 additions & 2 deletions ouster_client/src/sensor_info.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -105,9 +105,9 @@ sensor_info default_sensor_info(lidar_mode mode) {
info.beam_altitude_angles = gen1_altitude_angles;
info.lidar_origin_to_beam_origin_mm =
default_lidar_origin_to_beam_origin(info.prod_line);
info.beam_to_lidar_transform = default_imu_to_sensor_transform;
info.imu_to_sensor_transform =
info.beam_to_lidar_transform =
default_beam_to_lidar_transform(info.prod_line);
info.imu_to_sensor_transform = default_imu_to_sensor_transform;
info.lidar_to_sensor_transform = default_lidar_to_sensor_transform;
info.extrinsic = mat4d::Identity();
info.init_id = 0;
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