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Last active November 4, 2019 10:28
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How to correct tilt of Azure Kinect DK based on IMU samples
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gistfile1.txt
// 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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