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hengli / camodocal

CamOdoCal: Automatic Intrinsic and Extrinsic Calibration of a Rig with Multiple Generic Cameras and Odometry
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Quadratic Equation in estimateRyx #99

Open JadBatmobile opened 4 years ago

JadBatmobile commented 4 years ago

I am trying to understand the mathematics involved in the estimateRyx, specifically, in lines 518 - 552, where the two eigen vectors t1 and t2 are processed to yield R_yx.

I have read the source paper, which states that the constraints are used to solve for this quaternion, but they do not go into the mathematical details of it.

Thank you