From a3f8e5f8066701726d2cfabbbe454685dae65662 Mon Sep 17 00:00:00 2001 From: Autumn60 Date: Wed, 14 Feb 2024 19:50:58 +0900 Subject: [PATCH] Fix coordinate calc --- Assets/UnitySensors/Runtime/Scripts/Sensors/TF/TF.cs | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Assets/UnitySensors/Runtime/Scripts/Sensors/TF/TF.cs b/Assets/UnitySensors/Runtime/Scripts/Sensors/TF/TF.cs index ee7d3040..3b5d2a13 100644 --- a/Assets/UnitySensors/Runtime/Scripts/Sensors/TF/TF.cs +++ b/Assets/UnitySensors/Runtime/Scripts/Sensors/TF/TF.cs @@ -54,7 +54,7 @@ public TFData[] GetTFData(string frame_id_parent, Matrix4x4 worldToLocalMatrix, TFData tfData_self; tfData_self.frame_id_parent = frame_id_parent; tfData_self.frame_id_child = _frame_id; - tfData_self.position = worldToLocalMatrix * _transform.position; + tfData_self.position = (Vector3)(worldToLocalMatrix * new Vector4(_transform.position.x, _transform.position.y, _transform.position.z, 1.0f)); tfData_self.rotation = worldToLocalQuaternion * _transform.rotation; tfData.Add(tfData_self);