Missing derivative of Similarity(3)
Closed this issue · 0 comments
Ericsii commented
Feature
Request to implement derivative of Similarity(3)
Motivation
When I tried to use gtsam::Similarity3::Logmap(), I got an error:
terminate called after throwing an instance of 'std::runtime_error'
what(): Similarity3::Logmap: derivative not implemented
Pitch
Delete this runtime_error and implement a Jacobian matrix.