There seems to be a small issue for derivatives near identity. A multiplication with a Rotation matrix should be applied only when omega_mag > threshold, for another case since:
R = I + w_x
A partial derivative will be just:
\partial{R}{\partial w_i} = G_i
where G_i is a generator matrix for the i-th element (Section 3.3 Gallego et al. (2014)).
Hello,
There seems to be a small issue for derivatives near identity. A multiplication with a Rotation matrix should be applied only when omega_mag > threshold, for another case since:
A partial derivative will be just:
where G_i is a generator matrix for the i-th element (Section 3.3 Gallego et al. (2014)).
Best Regards,
Minh