Skip to content
Snippets Groups Projects
Commit 6d33d6b7 authored by Patrik Huber's avatar Patrik Huber
Browse files

Added explicit conversion from the rotation matrix to quaternion

parent 054f6f59
No related branches found
No related tags found
No related merge requests found
......@@ -121,13 +121,13 @@ public:
auto rot_mtx_y = glm::rotate(glm::mat4(1.0f), r_y, glm::vec3{ 0.0f, 1.0f, 0.0f });
auto rot_mtx_z = glm::rotate(glm::mat4(1.0f), r_z, glm::vec3{ 0.0f, 0.0f, 1.0f });
auto zxy_rotation_matrix = rot_mtx_z * rot_mtx_x * rot_mtx_y;
rotation = zxy_rotation_matrix;
rotation = glm::quat(zxy_rotation_matrix);
};
// This assumes estimate_sop was run on points with OpenCV viewport! I.e. y flipped.
RenderingParameters(ScaledOrthoProjectionParameters ortho_params, int image_width, int image_height) {
camera_type = CameraType::Orthographic;
rotation = ortho_params.R; // convert the rotation matrix to a quaternion
rotation = glm::quat(ortho_params.R);
t_x = ortho_params.tx;
t_y = ortho_params.ty;
const auto l = 0.0;
......
0% Loading or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment