Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

RotationVector2Quaternion seems not right in QuaternionPlusImpl in manifold.cc #941

Open
dzywater opened this issue Jan 4, 2023 · 0 comments
Open

RotationVector2Quaternion seems not right in QuaternionPlusImpl in manifold.cc #941

dzywater opened this issue Jan 4, 2023 · 0 comments

Comments

@dzywater
Copy link

dzywater commented Jan 4, 2023

ceres-solver/internal/ceres/manifold.cc

Line 43 in 51d52c3

const double sin_delta_by_delta = (std::sin(norm_delta) / norm_delta);

conversion delta into quaternion uses norm_delta not half_norm_delta.
@dzywater dzywater changed the title RotationVector2Quaternion seems not right QuaternionPlusImpl RotationVector2Quaternion seems not right in QuaternionPlusImpl in manifold.cc Jan 4, 2023
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Assignees
No one assigned
Labels
None yet
Projects
None yet
Milestone
No milestone
Development

No branches or pull requests
1 participant
@dzywater