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Use a more accurate quat2rot that doesn't leave the norm off by 6% #4013

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May 30, 2019
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Use a more accurate quat2rot that doesn't leave the norm off by 6% #4013

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36 changes: 32 additions & 4 deletions src/media/ros/ros_file_format.h
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Original file line number Diff line number Diff line change
Expand Up @@ -127,10 +127,38 @@ namespace librealsense

inline void rot2quat(const float(&r)[9], geometry_msgs::Transform::_rotation_type& q)
{
q.w = sqrtf(1 + r[0] + r[4] + r[8]) / 2; // qw= sqrt(1 + m00 + m11 + m22) /2
q.x = (r[5] - r[7]) / (4 * q.w); // qx = (m21 - m12)/( 4 *qw)
q.y = (r[6] - r[2]) / (4 * q.w); // qy = (m02 - m20)/( 4 *qw)
q.z = (r[1] - r[3]) / (4 * q.w); // qz = (m10 - m01)/( 4 *qw)
auto m = (float(&)[3][3])r; // column major
float tr[4];
tr[0] = ( m[0][0] + m[1][1] + m[2][2]);
tr[1] = ( m[0][0] - m[1][1] - m[2][2]);
tr[2] = (-m[0][0] + m[1][1] - m[2][2]);
tr[3] = (-m[0][0] - m[1][1] + m[2][2]);
if (tr[0] >= tr[1] && tr[0]>= tr[2] && tr[0] >= tr[3]) {
float s = 2 * std::sqrt(tr[0] + 1);
q.w = s/4;
q.x = (m[2][1] - m[1][2]) / s;
q.y = (m[0][2] - m[2][0]) / s;
q.z = (m[1][0] - m[0][1]) / s;
} else if (tr[1] >= tr[2] && tr[1] >= tr[3]) {
float s = 2 * std::sqrt(tr[1] + 1);
q.w = (m[2][1] - m[1][2]) / s;
q.x = s/4;
q.y = (m[1][0] + m[0][1]) / s;
q.z = (m[2][0] + m[0][2]) / s;
} else if (tr[2] >= tr[3]) {
float s = 2 * std::sqrt(tr[2] + 1);
q.w = (m[0][2] - m[2][0]) / s;
q.x = (m[1][0] + m[0][1]) / s;
q.y = s/4;
q.z = (m[1][2] + m[2][1]) / s;
} else {
float s = 2 * std::sqrt(tr[3] + 1);
q.w = (m[1][0] - m[0][1]) / s;
q.x = (m[0][2] + m[2][0]) / s;
q.y = (m[1][2] + m[2][1]) / s;
q.z = s/4;
}
q.w = -q.w; // column major
}

inline bool convert(const geometry_msgs::Transform& source, rs2_extrinsics& target)
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