ezod/adolphus — Issue #25: Rotation Matrix to Quaternion Conversion Issue
Author: ksvision
Created: 2012-01-17 00:31:56+00:00
State: open

Possible singularity issue with rotation class of geometry.pyx, more specifically, rotation matrix to quaternion conversion.

The following code yields a unit quaternion (it shouldn't):

from adolphus.geometry import Quaternion, Rotation, Pose
R1 = [[-1,0,0],[0,0,1],[0,1,0]]
Rotation.from_rotation_matrix(R1)