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ethz-asl / hand_eye_calibration

Python tools to perform time-synchronization and hand-eye calibration.
BSD 3-Clause "New" or "Revised" License
430 stars 115 forks source link

FIX nan angular velocity #37

Closed HannesSommer closed 7 years ago

HannesSommer commented 7 years ago

@lorenwel , this should fix your problem - i hope.

HannesSommer commented 7 years ago

@ffurrer , currently the angle_axis() implementation is not robust against quaternions with norm > 1.0. Therefore I normalize before with this fix. But maybe you would like to fix the angle_axis() function instead?

HannesSommer commented 7 years ago

I guess this can be closed then. PR #39 makes this probably unnecessary.

ffurrer commented 7 years ago

yup, closing