in person_grabber: wrong rotations

[loechner]

I found a solution for the rotation problem:

    KDL::Rotation rotation(m[0], m[1], m[2],
                           m[3], m[4], m[5],
                   m[6], m[7], m[8]);

    double rX, rY, rZ;
    rotation.GetRPY(rX, rY, rZ);       //get the roll, pitch and yaw values

    tf::Transform transform;
    transform.setOrigin(tf::Vector3(x, y, z));
    transform.setRotation(tf::Quaternion(rZ, -rY, -rX));

Cheers, Julian

[gatsoulis]

Hi Julian,

thanks for your contribution. We will have a look into this.

Kind Regards,
Yianni
http://isrc.ulster.ac.uk/staff/IGatsoulis

On 29/09/11 14:53, loejuli wrote:

I found a solution for the rotation problem:

  KDL::Rotation rotation(m[0], m[1], m[2],
                         m[3], m[4], m[5],
                 m[6], m[7], m[8]);

  double rX, rY, rZ;
  rotation.GetRPY(rX, rY, rZ);       //get the roll, pitch and yaw values

  tf::Transform transform;
  transform.setOrigin(tf::Vector3(x, y, z));
  transform.setRotation(tf::Quaternion(rZ, -rY, -rX));

It's probably not the right way to submit something like this but it is still a solution ;)

Cheers, Julian