Hi guys,

Thanks for your help! I managed to solve my problem and I posted a question on answers.ros.org. I already answered but it would be cool if you could also reply with your solution that uses the rotation matrix Thomas! Here's the link to the question:

http://answers.ros.org/question/31006/how-to-convert-vector3-axis-to-look-at-quaternion

Best regards,

Gonçalo Cabrita

On Mar 31, 2012, at 2:27 PM, Jack O'Quin wrote:

> On Sat, Mar 31, 2012 at 6:23 AM, Gonçalo Cabrita <goncabrita@gmail.com> wrote:
>> 
>> My program uses a Kinect to extract cylinders using PCL and draws them in
>> rviz, or at least its supposed to! The problem is that the model from PCL
>> provides me with a Vector3 that represents the axis of the cylinder and to
>> draw it as a Marker on rviz I need to convert this into a quaternion. I also
>> have access to a random point along the axis of the cylinder so I made the
>> following function to extract the top and bottom points of the axis of the
>> cylinder:
> 
> [...]
> 
>> Would this be a good question of answers.ros.og? Perhaps if I make it more
>> general in terms of the conversion between Vector3 and a look at Quaternion?
> 
> Yes. That is the right forum for questions like this.
> -- 
>  joq
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