%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% SLAM Summer School 2006, Oxford.% Practical 3. SLAM using Monocular Vision.% Practical exercise.% J.M.M. Montiel, Javier Civera, Andrew J. Davison.% {josemari, jcivera}@unizar.es, ajd@doc.ic.ac.uk%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%function dq3_by_dq2RES=dq3_by_dq2(q1_in)q1.R=q1_in(1);q1.X=q1_in(2);q1.Y=q1_in(3);q1.Z=q1_in(4);dq3_by_dq2RES = ...   [q1.R, -q1.X, -q1.Y, -q1.Z,    q1.X,  q1.R,  q1.Z, -q1.Y,    q1.Y, -q1.Z,  q1.R,  q1.X,    q1.Z,  q1.Y, -q1.X,  q1.R];return