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Coordinate system used in the surface_matching module


I'm using the surface matching module within a project in Unity through a C++ DLL.

I'm attempting to match two of the same models in different poses, using their vertices as point clouds. So far I have the translation working correctly, but I'm having some trouble interpreting the rotations. I've tried guessing at the coordinate system by applying several combinations of rotations, axis swapping and inverting to the resulting quaternion but I've been unable to reach a complete solution. I'm uncertain whether the coordinate system used in surface_matching is left or right handed and even if the quaternion in the Pose3D structure is represented as [x,y,z,w] or [w,x,y,z]. Could anyone offer some advice?

Thanks in advance.