找出两个四元数之间的旋转差以校准两个坐标系 [英] Find the rotational difference between two quaternions to calibrate two coordinate systems

问题描述

我需要将四元数流数据偏移一定数量.为此，我计划获取2之间的差，然后将第一个偏移第二个.

I need to offset streaming quaternion data by a specific amount. To do this I plan to get the difference between the 2, then offset the first by the second.

我很难找到两者之间的区别.

I am having trouble finding the difference between the 2.

使用此转换器.

我正在运行以下代码:

public void convertQuat180()
{
    Quaternion q = new Quaternion(0.65328f, 0.2706f, 0.65328f, -0.2706f); //45,180,0

    Quaternion q180 = new Quaternion(0.70711f, 0, 0.70711f, 0);  // 0,90,0

    Quaternion result = q180 * Quaternion.Inverse(q);

    Console.WriteLine(result);
}

我希望result是:

(euler) diff = 45, 90 , 0

但是我却得到了:

135,-180,0

我在哪里错了?

推荐答案

您想要的是坐标系的转换.您有一个由传感器RS测得的旋转和相机RC的旋转.两者都由一个常量(我们称之为)偏移量RO:

What you want is a transformation of coordinate systems. You have a rotation measured by the sensor RS and a rotation of the camera RC. Both are related by a constant (let's call it) offset RO:

RS = RC * RO

或者

RC = RS * RO^-1

在校准过程中，您获得了RS和RC.然后，您可以将偏移量计算为:

During your calibration procedure, you acquire RS and RC. Then, you can calculate the offset as:

RO = RC^-1 * RS
RO^-1 = RS^-1 * RC

只需计算出您将更常使用的那个(可能是RO^-1，因为您想从传感器的旋转中获取摄像机的旋转).

Just calculate the one that you will use more often (probably RO^-1 because you want to get the camera rotation from the sensor rotation).

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