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baidu / ICE-BA

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Math bug in EigenMatrix3x3f variant of GetRodriguesJacobianInverse #25

Closed joydeep-b closed 5 years ago

joydeep-b commented 5 years ago

I believe the following line should be + (1.0f + cosf(th)) ... (plus, not minus).

https://github.com/baidu/ICE-BA/blob/b004bb5afc0d554d49742aae8503d231213f7e6d/Backend/Geometry/Rotation.h#L1340

Reference: unnamed Equation between 9 and 10 in https://arxiv.org/pdf/1512.02363.pdf

joydeep-b commented 5 years ago

Correction: the math in the paper is wrong.

For the correct equation, see page 40, "Stochastic Models, Information Theory, and Lie Groups (Vol. 2)" Gregory S. Chirikjian