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Tweak to fix rot2vec bug #51

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Tweak to fix rot2vec bug #51

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4 changes: 2 additions & 2 deletions src/so3/Operations.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -82,14 +82,14 @@ Eigen::Vector3d rot2vec(const Eigen::Matrix3d& C_ab) {
const double phi_ba = acos(std::clamp(0.5 * (C_ab.trace() - 1.0), -1.0, 1.0));
const double sinphi_ba = sin(phi_ba);

if (fabs(sinphi_ba) > 1e-9) {
if (fabs(sinphi_ba) > 1e-6) {
// General case, angle is NOT near 0, pi, or 2*pi
Eigen::Vector3d axis;
axis << C_ab(2, 1) - C_ab(1, 2), C_ab(0, 2) - C_ab(2, 0),
C_ab(1, 0) - C_ab(0, 1);
return (0.5 * phi_ba / sinphi_ba) * axis;

} else if (fabs(phi_ba) > 1e-9) {
} else if (fabs(phi_ba) > 1e-6) {
// Angle is near pi or 2*pi
// ** Note with this method we do not know the sign of 'phi', however since
// we know phi is
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