Closed Nronaldo closed 3 years ago
I did not remember exactly where this formula came from, but it seems you are right. The output vector is not always unitary.
I think the impact is really small; among the 60k rotations from the visualiseAttitudeOnSpecificDataset
script, only 10 quaternions have an absolute error > 1e-3
.
Removing the "-1" does not seem to fix the problem. Therefore, I applied vector normalization.
Thank you for this feedback
I did not remember exactly where this formula came from, but it seems you are right. The output vector is not always unitary. I think the impact is really small; among the 60k rotations from the
visualiseAttitudeOnSpecificDataset
script, only 10 quaternions have an absolute error> 1e-3
. Removing the "-1" does not seem to fix the problem. Therefore, I applied vector normalization.Thank you for this feedback
Thank you for your reply.
Dear Tyrex: Thanks for your excellent job, and I benefited much from your work. I find you use the function "quatrotate" to calculate the vector in a new coordinate with a quaternion. I think you should normalize the quaternion , or you shouldn't use 1 to stand for the "qw^2+qx^2+qy^2+qz^2".![image](https://user-images.githubusercontent.com/26211426/100584574-4045f600-3327-11eb-8cfc-954964a48c07.png)