Fix conversion between Euler angles to quaternions

mihaibujanca / dynamicfusion

Implementation of Newcombe et al. CVPR 2015 DynamicFusion paper

BSD 3-Clause "New" or "Revised" License

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Fix conversion between Euler angles to quaternions #31

Closed rmurai0610 closed 6 years ago

rmurai0610 commented 6 years ago

Hello Mihai, Thank you for awesome project! I've been reading through the code and I think I found a small bug in dual quaternion initialisation. According to Wikipedia, initialisation of rotation z should use sin(pitch / 2) not cos(pitch /2). Hope this helps! Riku

mihaibujanca commented 6 years ago

Ouch! Well spotted, thanks very much