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Fix issue #44

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This commit is contained in:
Joe Dong
2024-07-03 15:12:50 +08:00
parent 5621f039c0
commit d15ef10894
1 changed files with 2 additions and 2 deletions
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orbbec_camera/src/utils.cpp
+2 -2
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@@ -199,8 +199,8 @@ 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[3], rotation[6], rotation[1], rotation[4], rotation[7], rotation[2],
rotation[5], rotation[8];
m << rotation[0], rotation[1], rotation[2], rotation[3], rotation[4], rotation[5], rotation[6],
rotation[7], rotation[8];
Eigen::Quaternionf q(m);
return {q.x(), q.y(), q.z(), q.w()};
}