From ef80f85d69cef42772406bfec79173fbe291e3ae Mon Sep 17 00:00:00 2001 From: Fredrikhb Date: Tue, 23 Sep 2025 14:09:56 +0200 Subject: [PATCH] fix shift_map_xy handling: use [dy,dx] for cp.roll axes --- .../elevation_mapping_cupy/elevation_mapping.py | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/elevation_mapping_cupy/elevation_mapping_cupy/elevation_mapping.py b/elevation_mapping_cupy/elevation_mapping_cupy/elevation_mapping.py index b9e11caa..90b841c7 100644 --- a/elevation_mapping_cupy/elevation_mapping_cupy/elevation_mapping.py +++ b/elevation_mapping_cupy/elevation_mapping_cupy/elevation_mapping.py @@ -151,7 +151,8 @@ def move(self, delta_position): delta_position_xy = delta_pixel * self.resolution self.center[:2] += xp.asarray(delta_position_xy) self.center[2] += xp.asarray(delta_position[2]) - self.shift_map_xy(delta_pixel) + dy_dx = xp.array([delta_pixel[1], delta_pixel[0]]) + self.shift_map_xy(dy_dx) self.shift_map_z(-delta_position[2]) def move_to(self, position, R): @@ -169,7 +170,8 @@ def move_to(self, position, R): delta_xy = delta_pixel * self.resolution self.center[:2] += delta_xy self.center[2] += delta[2] - self.shift_map_xy(-delta_pixel) + dy_dx = xp.array([delta_pixel[1], delta_pixel[0]]) + self.shift_map_xy(-dy_dx) self.shift_map_z(-delta[2]) def pad_value(self, x, shift_value, idx=None, value=0.0):