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hku-mars / FAST_LIO

A computationally efficient and robust LiDAR-inertial odometry (LIO) package
GNU General Public License v2.0
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Bug in S2.hpp? #210

Closed biao-y closed 1 year ago

biao-y commented 1 year ago

非常感谢MARS实验室的工作，关于下面的S2.hpp中的代码： https://github.com/hku-mars/FAST_LIO/blob/d304b8953339aedbf67f75dca0f41025ead2a4d7/include/IKFoM_toolkit/mtk/types/S2.hpp#L132 存在一点小疑问：怎么保证这里的res是一个单位四元数呢，那么转换过来的toRotationMatrix也就不是一个标准的旋转矩阵，这样的话对vec进行旋转操作是不是有问题的呢？？

stale[bot] commented 1 year ago

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