SE2-3-
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Noise model in intro.py
Hi,
In code intro.py actual noise propagation,
T[:, k] = Gamma.bmm(Phi).bmm(T_k).bmm(tmp2)
where T_k is the exponential mapped generated multivariate Gaussian noise using the Cholesky decomposition of the covariance matrix.
I am wondering why multiplication is not at the end of the equation as followed
T[:, k] = Gamma.bmm(Phi).bmm(tmp2).bmm(T_k)
Based on the equation (44) in paper
Thanks!