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rotationMatrix() and angles give different results #519
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Thanks @DmitriyKorchemkin
I now get:
Which is still not so similar to |
I've meant that you need to use Seem to match perfectly:
Angles that you get from |
I checked and you are right - they match. Thanks! |
I have a
Sophus::SE3f
object.I need to export it's rotation angles and use them elsewhere to rebuild the rotation matrix.
In my code, I export the rotation matrix in 3 ways:
In my example, I get the following values:
The first thing I notice is that the first set of angles (from angleX, angleY, angleZ functions) is slightly(?) different than then second one (extracted from the quaternion).
I later copy those values to Python3 and try to rebuild the rotation matrix:
Neither
Rangles
norRquat
have the same values asRorigin
.When I use these matrices to rotate a 3d point and then project it on a camera I get a 5 pixels difference, so this is not a minor precision issue.
Should I use another method to export those angles? Another way to reconstruct the rotation matrix from those angles?
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