Axes mixed up?

[mortenfyhn]

I just tested pose view with a sequence of simple rotations, and the box in the visualization appears to rotate the correct amount around the correct axis, but in the wrong direction.

These are the rotations I tried and the results I got:

roll	pitch	yaw	q.x	q.y	q.z	q.w	result	expectation
15°	0	0	.13	0	0	.99	neg. roll	pos. roll
0	15°	0	0	.13	0	.99	neg. pitch	pos. pitch
0	0	15°	0	0	.13	.99	neg. yaw	pos. yaw
-15°	0	0	-.13	0	0	.99	pos. roll	neg. roll
0	-15°	0	0	-.13	0	.99	pos. pitch	neg. pitch
0	0	-15°	0	0	-.13	.99	pos. yaw	neg. yaw

I'm assuming that the colors in pose view are (red = x), (green = y), (blue = z), and that it uses right-handed rotations. Is that correct?

(I used http://www.andre-gaschler.com/rotationconverter/ to calculate quaternions to test based on roll/pitch/yaw values. Since the rotations are simple, Euler angle convention should not matter, but I had it set to ZYX.)

[dirk-thomas]

Thank you for reporting the problem. tf returns the matrix in row-major while OpenGL expects column-major. Please see #3 for the fix.

[mortenfyhn]

Wonderful! I can confirm that your fix seems to work.

[dirk-thomas]

Thank you for trying the patch and reporting back. The fix is available in the newly released version 0.5.8.