Construct x-axis rotation.

Construct z-axis rotation.

true => this node should be marginalized out during the optimization

It re-normalizes the SO3 element. Note: Because of the class invariant of SO3, there is typically no need to call this function directly.

return b, the right hand side of the system

exponential map

* lock for the block of the hessian and the b vector associated with this vertex, to avoid * race-conditions if multi-threaded. */

Logarithmic map Computes the logarithm, the inverse of the group exponential which maps element of the group (rigid body transformations) to elements

* Update the position of the node from the parameters in v. * Depends on the implementation of oplusImpl in derived classes to actually carry

* unlock the block of the hessian and the b vector associated with this vertex */

exponential map

exponential map

if NOT NULL, error of this edge will be robustifed with the kernel

Copy constructor

exponential map

Construct y-axis rotation.

where does the row at block-row r starts?

Takes in quaternion, and normalizes it. Precondition: The quaternion must not be close to zero.

Sets ``so3`` using ``rotation_matrix``. Precondition: ``R`` must be orthogonal and ``det(R)=1``.

return the size of the solution vector (x) and b

SO3 FUNCTIONS

* Returns whether the node is a leaf node * @return true iff the node is a leaf */