returns matrix representation

This provides unsafe read/write access to internal data. SO(3) is represented by an Eigen::Quaternion (four parameters). When using direct write acces

set the ith vertex on the hyper-edge to the pointer supplied */

return x, the solution vector

columns of the matrix

rows of the matrix

returns the dimensions of the error function

set the estimate for the vertex also calls updateCache()

true => this node is fixed during the optimization

Logarithmic map Computes the logarithm, the inverse of the group exponential which maps element of the group (rotation matrices) to elements of the t

temporary index of this node in the parameter vector obtained from linearization

sets the level of the edge

true => this node is marginalized out during the optimization