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Quaternions for 3D Rotations #760
This PR adds quaternion parametrization for 3D rotations.
Specifically, it defines the
For more details on quaternions, refer to:
@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?