From 2a260befa51329283f8f16c47b3c819bd735e373 Mon Sep 17 00:00:00 2001 From: Brad Saund Date: Thu, 7 May 2020 23:06:04 -0400 Subject: [PATCH] Correct rotation matrix construction in TestICP --- tests/test_registration.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/tests/test_registration.py b/tests/test_registration.py index 7f6a59432..e2e4910ed 100644 --- a/tests/test_registration.py +++ b/tests/test_registration.py @@ -20,8 +20,8 @@ def setUp(self): rot_y = [[cos(theta[1]), 0, sin(theta[1])], [0, 1, 0], [-sin(theta[1]), 0, cos(theta[1])]] - rot_z = [[cos(theta[2]), -sin(theta[1]), 0], - [sin(theta[2]), cos(theta[1]), 0], + rot_z = [[cos(theta[2]), -sin(theta[2]), 0], + [sin(theta[2]), cos(theta[2]), 0], [0, 0, 1]] transform = np.dot(rot_x, np.dot(rot_y, rot_z))