Closed qpc001 closed 8 months ago
@qpc001 Thank you for reporting!
I would like to change the order of Euler angles in calc_score.cu rather than using DiscreteTransformation::create_matrix(). Could you please change it again as below?
rotation = Eigen::AngleAxisf(trans.yaw, Eigen::Vector3f::UnitZ()) * Eigen::AngleAxisf(trans.pitch, Eigen::Vector3f::UnitY()) *
Eigen::AngleAxisf(trans.roll, Eigen::Vector3f::UnitX());
@qpc001 Thank you for reporting!
I would like to change the order of Euler angles in calc_score.cu rather than using DiscreteTransformation::create_matrix(). Could you please change it again as below?
rotation = Eigen::AngleAxisf(trans.yaw, Eigen::Vector3f::UnitZ()) * Eigen::AngleAxisf(trans.pitch, Eigen::Vector3f::UnitY()) * Eigen::AngleAxisf(trans.roll, Eigen::Vector3f::UnitX());
I just updated my commit.
I found the output pose is something weird, and fixed it.
Just rotate your target cloud and check it out, hhh.