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fix rotation matrix construction in column-major order #167

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fix rotation matrix construction in column-major order #167

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7 changes: 3 additions & 4 deletions orbbec_camera/src/utils.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -199,10 +199,9 @@ void savePointsToPly(const std::shared_ptr<ob::Frame> &frame, const std::string

tf2::Quaternion rotationMatrixToQuaternion(const float rotation[9]) {
Eigen::Matrix3f m;
// We need to be careful about the order, as RS2 rotation matrix is
// column-major, while Eigen::Matrix3f expects row-major.
m << rotation[0], rotation[1], rotation[2], rotation[3], rotation[4], rotation[5], rotation[6],
rotation[7], rotation[8];
m << rotation[0], rotation[3], rotation[6],
rotation[2], rotation[4], rotation[7],
rotation[3], rotation[5], rotation[8];
Eigen::Quaternionf q(m);
return {q.x(), q.y(), q.z(), q.w()};
}
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