ZZy129326999
commented
4 months ago Can I understand that the corresponding Lie algebra cross-product rotation matrix is obtained through the rotation matrix as the derivative of the rotation matrix, and then the derivative of the rotation matrix is used to derive the three rotation components of the Lie algebra respectively?
I would like to ask you about the derivation of the rotation matrix W with respect to the Lie algebra in "MonoGS". Why can it be derivated directly in this way? Why not derive W@Sigma (3D covariance)? Thank you very much!