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The angular_x, angular_y, angular_z is the angular velocity in IMU message.
We can get the angle integration by last angles and current angular velocity and time. But the euler angle can't be added directly. Is it better to write using quaternion?
The quaternion for two rotation could be multiply directly, such as:
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Hi, @TixiaoShan , thanks for your excellent work !
In
imageProjection.cpp/imuDeskewInfo()
function, the euler integration is written as:The
angular_x, angular_y, angular_z
is the angular velocity in IMU message.We can get the angle integration by last angles and current angular velocity and time.
But the euler angle can't be added directly.
Is it better to write using quaternion?
The quaternion for two rotation could be multiply directly, such as:
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