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Question on SE3ExpMap Edge Jacobian #200

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rachillesf opened this issue Aug 14, 2017 · 1 comment

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rachillesf commented Aug 14, 2017

Hi, first of all, thank you for you amazing open source implementation.

In SE3ExpMap edge, the error is computed by

e = log( Tj^-1CTi)

and the Jacobian in relation to Ti is given by:

Ji = Tj^-1*C

My question is: Ji is the Jacobian of log( Tj^-1CTi) or Tj^-1CTi ,?

github-actions bot commented Jan 19, 2025

This issue is stale because it has been open 60 days with no activity. Remove stale label or comment or this will be closed in 14 days.

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