fix(image_projection_based_fusion): fix input to quaternion (autoware…

…foundation#1933) Signed-off-by: yukke42 <yusuke.muramatsu@tier4.jp> Signed-off-by: yukke42 <yusuke.muramatsu@tier4.jp>
boyali · Oct 3, 2022 · 3dbbeee · 3dbbeee
1 parent ec280f7
commit 3dbbeee
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/perception/image_projection_based_fusion/src/utils/geometry.cpp b/perception/image_projection_based_fusion/src/utils/geometry.cpp
@@ -122,7 +122,7 @@ void boundingBoxToVertices(
 
   const auto position = Eigen::Vector3d(pose.position.x, pose.position.y, pose.position.z);
   const auto orientation = Eigen::Quaterniond(
-    pose.orientation.x, pose.orientation.y, pose.orientation.z, pose.orientation.w);
+    pose.orientation.w, pose.orientation.x, pose.orientation.y, pose.orientation.z);
 
   for (const auto & corner : corners_template) {
     Eigen::Vector3d corner_point(