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Quaternions for 3D Rotations #760

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merged 2 commits into from Nov 30, 2016

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nontas commented Nov 23, 2016

This PR adds quaternion parametrization for 3D rotations.

Specifically, it defines the init_3d_from_quaternion(), _as_vector(), _from_vector_inplace() of the Rotation class to support quaternions in case the object is 3-dimensional.

For more details on quaternions, refer to:
Wheeler, M., and Katsushi I.. "Iterative Estimation of Rotation and Translation using the Quaternion", CMU-CS-95-215, 1995.

nontas added some commits Nov 23, 2016

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patricksnape commented Nov 25, 2016

Why aren't we parameterizing the 2D rotations?

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jabooth commented Nov 28, 2016

@patricksnape only because we were time constrained and we only needed to solve for 3D parameterisation at this stage.

We could hold this up until we think through what to do for 2D parameterisations, but this is needed for 3DMM fitting in menpo3d, so we could do to move on it...happy for it to go in and raise an issue to add 2D params later?

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nontas commented Nov 29, 2016

I agree with @jabooth . Let's deal with 2D on a separate PR.

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patricksnape commented Nov 30, 2016

Can we make todos for that? And also, it would be good to have other init methods etc for different parameterisations e.g. from euler angles which are easier to reason about as a human (just make some issues?)

@patricksnape patricksnape merged commit cd1efb2 into menpo:master Nov 30, 2016

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@patricksnape patricksnape deleted the nontas:quaternions branch Nov 30, 2016

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jabooth commented Dec 1, 2016

We have an issue for Rotation convenience constructors, I'll link it to this PR:
#468

@jabooth jabooth referenced this pull request Dec 1, 2016

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Add 2D Rotation Params #763

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