Using ExpMap in MLPnp to optimize the camera pose.

[shshlei]

[urbste]

Cool! I was always thinking of improving that part, but never found the time. I just don't have Matlab at the moment to test this :/ did you run the experiments and it looks good?

I am also integrating MLPnP in pyTheiaSfM at the moment. I will also try to add your optimizations in there.

[drscopus]

Excuse me, would you like to interpret what "ExpMap" means and which parts in the Matlab code represent the "ExpMap"? Many thanks! @shshlei @urbste