I'm extracting a cylinder using PCL and the Kinect as shown in this tutorial:
One of the characteristics of the cylinder that the algorithm provides me with is its axis. In order to show it in rviz as a Marker however I need to convert this
Vector3<x, y, z> into a
Quaternion<x, y, z, w>.
I am aware that both things cannot hold the same information, I am trying to calculate the look at quaternion given to me by the vector that represents the axis of the cylinder that provides me a direction and not a rotation. How do I do that?