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gogojjh / M-LOAM

Robust Odometry and Mapping for Multi-LiDAR Systems with Online Extrinsic Calibration
http://gofile.me/4jm56/zU2yvg3bH
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Quaternion in Hamilton or JPL ? #38

Open codehory opened 1 year ago

codehory commented 1 year ago

Hi @gogojjh thanks for your great work! I'm confused about the code in math.hpp.

Function LeftQuatMatrix looks like the quaternion in JPL. However, as far as I know, Eigen uses it in Hamilton.

Could you please help me clear my confusion?