Open DavidBoja opened 3 years ago
Hi, not an expert but i believe there might be an error in quaternion multipication in transform_functions.py --> qmul(q, r) function.
w = terms[:, 0, 0] - terms[:, 1, 1] - terms[:, 2, 2] - terms[:, 3, 3] x = terms[:, 0, 1] + terms[:, 1, 0] - terms[:, 2, 3] + terms[:, 3, 2] y = terms[:, 0, 2] + terms[:, 1, 3] + terms[:, 2, 0] - terms[:, 3, 1] z = terms[:, 0, 3] - terms[:, 1, 2] + terms[:, 2, 1] + terms[:, 3, 0]
I believe the terms are correct but the signs are not. Apologies if i misunderstood the code somehow.
Hi, not an expert but i believe there might be an error in quaternion multipication in transform_functions.py --> qmul(q, r) function.
I believe the terms are correct but the signs are not. Apologies if i misunderstood the code somehow.