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borglab / gtsam

GTSAM is a library of C++ classes that implement smoothing and mapping (SAM) in robotics and vision, using factor graphs and Bayes networks as the underlying computing paradigm rather than sparse matrices.
http://gtsam.org
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Cannot find the Jacobian of Pose3 #1751

Open ZBX2333 opened 4 months ago

ZBX2333 commented 4 months ago

When I use GTSAM, build the factors that optimize for Pose3. Taking the variant of GPSFactor as an example, the residual is as follows. residual = R * p.translation() – nT_; I'm going to change GPSFactor to NoiseModelFactor2, and I'm going to be evaluating Pose3 and the coefficient R, and I should have two Jacobians, but I don't find the Jacobian for Pose3. I only found Jacobian for Pose2 in the website. I guess the Jacobian for Pose3 would look something like this: Jacobian << Z_3x3 , R * p.rotation().matrix(); But running my code produced the wrong result.

ProfFan commented 3 months ago

You can just use Expressions (automatic differentiation), just in case you don't know