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How to correct tilt of Azure Kinect DK based on IMU samples
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| // Accelerometer frame: (x, y, z) = (+forward, +right, +up) | |
| // Pointcloud frame: (x, y, z) = (+right, +up, +forward) | |
| Eigen::Quaternionf q; | |
| q.setFromTwoVectors( | |
| Eigen::Vector3f(accel[1], accel[2], accel[0]), | |
| Eigen::Vector3f(0.f, -1.f, 0.f)); | |
| Eigen::Matrix3f TiltR = q.toRotationMatrix(); | |
| // Then just multiply the pointcloud by this rotation matrix to get the corrected positions. |
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