From 51f076fae458a91362917bf100b3bdbe8a80fb94 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Mon, 18 Feb 2019 10:24:04 +0300 Subject: [PATCH] optical_flow: add note --- clever/src/optical_flow.cpp | 1 + 1 file changed, 1 insertion(+) diff --git a/clever/src/optical_flow.cpp b/clever/src/optical_flow.cpp index 5bc0d97d..8ff36e30 100644 --- a/clever/src/optical_flow.cpp +++ b/clever/src/optical_flow.cpp @@ -224,6 +224,7 @@ private: geometry_msgs::Vector3Stamped flow; flow.header.frame_id = frame_id; flow.header.stamp = curr; + // https://en.wikipedia.org/wiki/Rotation_formalisms_in_three_dimensions#Quaternion_↔_angular_velocities auto diff = ((curr_rot - prev_rot) * prev_rot.inverse()) * 2.0f; flow.vector.x = diff.x(); flow.vector.y = diff.y();