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Fix quaternion averaging #587

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Merged
ArisMorgens merged 1 commit into from
Jan 20, 2026
Merged

Fix quaternion averaging #587

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6 changes: 3 additions & 3 deletions cflib/localization/lighthouse_initial_estimator.py
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Original file line number Diff line number Diff line change
Expand Up @@ -373,9 +373,9 @@ def _avarage_poses(cls, poses: list[Pose]) -> Pose:
"""
def q_average(Q, W=None):
if W is not None:
Q *= W[:, None]
eigvals, eigvecs = np.linalg.eig(Q.T@Q)
return eigvecs[:, eigvals.argmax()]
Q = Q * W[:, None]
_, eigvecs = np.linalg.eigh(Q.T @ Q)
return eigvecs[:, -1]

positions = map(lambda x: x.translation, poses)
average_pos = np.average(np.array(list(positions)), axis=0)
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