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Published 20 hours ago • verified publisher icon izhengfan

fix for lie jacobian

Open geoeo opened this issue 2 years ago • 2 comments

Fixed the jacobian for the lie parameterization. Is not the identity for the rotation block it is the rotation itself.

geoeo avatar Nov 29 '21 23:11 geoeo

actually it might be the transpose. Not sure

geoeo avatar Nov 29 '21 23:11 geoeo

If https://github.com/ceres-solver/ceres-solver/blob/1f374a9fe53e362ab76fb36e1dc53f6609991009/include/ceres/local_parameterization.h#L127 actually means wrt to exp(w) then R makes sense otherwise it should a the 3x9 tensor?

geoeo avatar Nov 30 '21 09:11 geoeo