itaOrientation:

-added static function to create itaOrientation from view and up vectors
ita_vu2quat
-bugfix: result was wrong when using 3x3 matrices as input

applications/Hardware/Tracking/Optitrack/@itaOrientation/itaOrientation.m

@@ -399,4 +399,12 @@ classdef itaOrientation
         
     end
     
+    methods(Static = true)
+        function obj = FromViewUp(view, up)
+            assert( size(view, 2) == 3 && size(up, 2) == 3,'Size of both inputs must be N x 3 [double].' )
+            assert( isequal(size(view),size(up)),'Number of view and up vectors must be the same.' )
+            obj = itaOrientation(ita_vu2quat(view, up));
+        end
+    end
+    
 end

applications/Hardware/Tracking/Optitrack/ita_vu2quat.m

@@ -63,7 +63,7 @@ else
 end
 
 % calculate side vector
-s = cross(v, u);
+s = cross(v', u')'; %NOTE PSC: Matlab thinks in column vectors, so this would fail in case of two 3x3 matrices when not transposing v and u.
 
 % build rotation matrix
 vec_ent = size(v,1);