Function multisensor_calibration::utils::averageQuaternion

• Defined in File utils.hpp

Function Documentation

inline Eigen::Vector4f multisensor_calibration::utils::averageQuaternion(const std::vector<Eigen::Vector4f> iQuaternions)

Method to average a set of quaternions. The algorithm used is described here: https://ntrs.nasa.gov/archive/nasa/casi.ntrs.nasa.gov/20070017872.pdf.

See also

https://gist.github.com/PeteBlackerThe3rd/f73e9d569e29f23e8bd828d7886636a0

Parameters:

iQuaternions – [in] List of quaternions to be averaged.

Returns:

Averaged quaternion.