is there any guiding article on the principle of calibrantion?

[zhubinsheng]

i am poor english,thx for listen me; Recently, i learning the principle and algorithm implement of calibration.but i am not familiar with swift dev ,and had not Understand your implementaion. i want to ask whether there are ralevant document, thank u

[zhubinsheng]

opengl and quaternion ? 四元数 ？