On 03/31/2011 09:35 AM, Paul Martz wrote:
Rotate 90 degrees around the x axis (or -90, depends on right- versus
left-handed coordinates; try one, then the other, to see which one works).
This is not a secret. :-) There is plenty of OSG code that does this. Most of
the OSG plugins support an option to transform from a y-up to z-up convention.
-Paul
Also, if you're trying to rotate an orientation (not just a point), you
may need to use this form instead:
R' = M * R * Minv
Where M is the matrix to rotate from Z-up to Y-up, Minv is the inverse
of M, and R is the rotation in the foreign coordinate system.
Essentially, the idea is to rotate to the Kinect's coordinate system,
apply the Kinect's rotation, then rotate back to your application's
coordinate system. It's a bit counterintuitive, but that's how the math
works out.
--"J"
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