Comments (1)
Actually, it is just the jacobian relating the output to the pose. That one is reversed. The jacobian for the so(3) part is also negated from what it should be.
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Related Issues (11)
- Consider whether the xyz component of homogeneous coordinates should always remain normalized
- Add a method to compute projection error to Bearing or CameraPoint
- Rename observances to observations
- Add set se(3) for Pose trait
- Use triangulator by reference
- TriangulateObservances should take WorldPose, not CameraPose
- CameraPose, WorldPose, and RelativeCameraPose are bad names
- UnscaledRelativeCameraPose should not wrap RelativeCameraPose
- Points must use homogeneous projective coordinates
- Add Projective::from_point
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