Question on update SE3Quat

[JerryAIwei]

Could you explain why res.pose = this->pose *SE3Quat::exp(update.head<6>()); // NOTE bug before. switch position rather than res.pose = SE3Quat::exp(update.head<6>())*this->pose ; which is the same as the update function in class VertexSE3Expmap ? I know that VertexSE3Expmap is world to camera, however I still could not understand why we can simply switch the position. Thank you !

[shichaoy]

hi @JerryAIwei The comments is for other usage, I should delete it. For the current code, it doesn't matter to put left or right because I am using g2o numerical method to get jacobian, as long as the same vertex oplusImpl (exp_update) is used in numerical jacobian and final update. it doesn't matter the left/right order. That comment for my other experiments, where I try to fix object roll/pitch.