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Samples: Fix quaternion unit label and axis-angle unit-vector check #233

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Samples: Fix quaternion unit label and axis-angle unit-vector check #233

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17 changes: 8 additions & 9 deletions modules/zividsamples/gui/widgets/pose_widget.py
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Original file line number Diff line number Diff line change
Expand Up @@ -180,15 +180,14 @@ def zivid_transformation_matrix(self) -> zivid.Matrix4x4:
return zivid.Matrix4x4(self.transformation_matrix.as_matrix())

def _rotation_label_text(self) -> str:
degrees = (
" (°)"
if self.rotation_information.use_degrees
and self.rotation_information.rotation_format not in ["Quaternion", "Rotation Matrix"]
else (
" (rad)" if self.rotation_information.rotation_format not in ["Quaternion", "Rotation Matrix"] else ""
)
)
return f"Rotation as {self.rotation_information.rotation_format.name}{degrees}"
rotation_format = self.rotation_information.rotation_format
if rotation_format in [RotationFormats.quaternion, RotationFormats.rotation_matrix]:
degrees = ""
elif self.rotation_information.use_degrees:
degrees = " (°)"
else:
degrees = " (rad)"
return f"Rotation as {rotation_format.name}{degrees}"

def _rotation_column_label_texts(self) -> List[str]:
fmt = self.rotation_information.rotation_format
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2 changes: 1 addition & 1 deletion source/applications/advanced/hand_eye_calibration/pose_conversions.py
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Original file line number Diff line number Diff line change
Expand Up @@ -59,7 +59,7 @@ def __init__(self, axis: np.ndarray = np.array([0, 0, 1]), angle: Optional[float
if angle is None:
self.angle = np.linalg.norm(axis)
self.axis = axis / self.angle
elif np.linalg.norm(axis) != 0:
elif not np.isclose(np.linalg.norm(axis), 1.0):
raise ValueError("Angle provided, but vector is not unit vector")
else:
self.angle: np.floating = np.floating(angle)
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