Cayley Parameters

[tfranz91]

Dear MultiCol-SLAM team and users,

great job at implementing multi fisheye cameras into ORB-SLAM!

I have a question regarding the Cayley parameters. If I understood correctly, these are quaternions that are scaled towards real part being equal 1. So if a camera is turned 180 degrees, the real part of a quaternion tends towards zero and the Cayley parameters tend towards infinity, a singularity is introduced.

I wondered, are there other benefits of using Cayley parameters I might have missed? Will there be different problems introduced, if for example quaternions or homogeneous transformation matrices are implemented?

Thanks for any help in advance!

Best,
Franz

[yuyou]

AFAIK (or the code tells), the reason of using Cayley is to make the parser (YAML) easier to read. The code does the conversion from Caylay to homogeneous matrix immediately after reading those values. So you could make your own modification to add the support of the transformation matrix and share with us :-)