List of Operators ↓
This chapter contains operators for handling dual quaternions.
A dual quaternion consists of the two quaternions and , where is the real part, is the dual part, and is the dual unit number (). Each quaternion consists of the scalar part and the vector part , where are the basis elements of the quaternion vector space.
For information how dual quaternions can be used for the description of
rigid 3D transformations and their relation to Plücker coordinates, see
“Solution Guide III-C - 3D Vision”.
In HALCON, a dual quaternion is represented by a tuple with eight values , where and are the scalar and the vector part of the real part and and are the scalar and the vector part of the dual part.