Resolve "Add method for vector rotation for converting to world coordinate system"

Implemented requested method and added unit tests for it.

Closes #327 (closed)

src/extrCalibration.cpp

@@ -897,14 +897,15 @@ cv::Point2f ExtrCalibration::getImagePoint(cv::Point3f p3d)
 
 /**
  * @brief Rotate a given vector from camera coordinate system to world coordinate system
- * 
- * When the world coordinate system is not aligned to the camera-system, 
+ *
+ * When the world coordinate system is not aligned to the camera-system,
  * some direction dependent calculations (like head orientation) have to be rotated to be correctly exported.
- * 
+ *
  * @param camVec the Vector to be rotated matching the camera coordinate system.
  * @return the rotated vector.
  */
-cv::Vec3d ExtrCalibration::camToWorldRotation(const cv::Vec3d camVec) {
+cv::Vec3d ExtrCalibration::camToWorldRotation(const cv::Vec3d camVec)
+{
     // Transform the rotation vector into a rotation matrix with opencvs rodrigues method
     cv::Matx<double, 3, 3> rot_mat(3, 3, CV_64F);
     const cv::Mat          rvec =
@@ -913,7 +914,7 @@ cv::Vec3d ExtrCalibration::camToWorldRotation(const cv::Vec3d camVec) {
          mControlWidget->getCalibExtrRot3());
     Rodrigues(rvec, rot_mat);
 
-    auto rot_inv = rot_mat.inv(cv::DECOMP_LU, nullptr);
+    auto      rot_inv  = rot_mat.inv(cv::DECOMP_LU, nullptr);
     cv::Vec3d worldVec = rot_inv * camVec;
     return worldVec;
 }