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dvorak0 / VI-MEAN

Visual-Inertia-fusion-based Monocular dEnse mAppiNg
GNU General Public License v3.0
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what does Utility::Qleft do? #9

Closed K0stIa closed 7 years ago

K0stIa commented 7 years ago

Could you explain what does this function do?

https://github.com/dvorak0/VI-MEAN/blob/release/self_calibration_estimator/src/utility.h#L47

dvorak0 commented 7 years ago

Quaternion multiplication has equivalent matrix form: q x b = Qleft(q)p = Qright(p)q.

Here are details: https://github.com/dvorak0/VI-MEAN/blob/release/support/notes/Appendix.pdf