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KOKIAOKI / 3d_bbs

MIT License
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<fix>(gpu_bbs3d): fix for output rotation order. #13

Closed qpc001 closed 8 months ago

qpc001 commented 8 months ago

I found the output pose is something weird, and fixed it.

Just rotate your target cloud and check it out, hhh.

KOKIAOKI commented 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 commented 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());

I just updated my commit.