Merge pull request #6109 from cyberbotics/sync-master-eb8acdf9e

Merge master into develop

Author: stefaniapedrazzi

docs/reference/changelog-r2023.md

@@ -79,6 +79,7 @@ Released on ??
     - Fixed generation of moment of inertia matrix based on bounding box ([#6048](https://github.com/cyberbotics/webots/pull/6048)).
     - Fixed the loading of remote mesh bounding objects ([#6047](https://github.com/cyberbotics/webots/pull/6047)).
     - Fixed crash during conversion of PROTO to base nodes in case of Mesh nodes with invalid scale values ([#6088](https://github.com/cyberbotics/webots/pull/6088)).
+    - Fixed object's relative orientation returned by the [Recognition](recognition.md) functionality ([#6100](https://github.com/cyberbotics/webots/pull/6100)).
 
 ## Webots R2023a
 Released on November 29th, 2022.

src/webots/nodes/WbCamera.cpp

@@ -804,8 +804,8 @@ bool WbCamera::setRecognizedObjectProperties(WbRecognizedObject *recognizedObjec
 
   // compute object relative orientation
   WbRotation relativeRotation;
-  relativeRotation.fromMatrix3(recognizedObject->object()->rotationMatrix() *
-                               recognizedObject->device()->rotationMatrix().transposed());
+  relativeRotation.fromMatrix3(recognizedObject->device()->rotationMatrix().transposed() *
+                               recognizedObject->object()->rotationMatrix());
   relativeRotation.normalize();
   recognizedObject->setRelativeOrientation(relativeRotation);
 

tests/api/controllers/camera_recognition/camera_recognition.c

@@ -217,7 +217,7 @@ int main(int argc, char **argv) {
 
   // test spherical camera
   const double invisible_capsule_position[3] = {0.369, 1.650, 0.899};
-  const double invisible_capsule_orientation[4] = {-0.014153, 0.447164, -0.894340, 2.094391};
+  const double invisible_capsule_orientation[4] = {0.577350, -0.577350, -0.577350, 2.094390};
   const double invisible_capsule_size[2] = {0.1, 0.1};
   object_number = wb_camera_recognition_get_number_of_objects(camera_spherical);
   ts_assert_int_equal(object_number, 4,
@@ -235,7 +235,7 @@ int main(int argc, char **argv) {
         objects[i].position[0], objects[i].position[1], objects[i].position[2], expected_position[0], expected_position[1],
         expected_position[2]);
       // orientation
-      double expected_orientation[4] = {-0.014153, 0.447166, -0.894339, 2.094390};
+      double expected_orientation[4] = {0.577350, -0.577350, -0.577350, 2.094390};
       ts_assert_doubles_in_delta(
         4, objects[i].orientation, expected_orientation, 0.001,
         "Orientation of 'occluded box' is not correct for spherical camera: found=(%f, %f, %f, %f), expected=(%f, %f, %f, %f).",