Support Adjoint matrix computation for Rigid3d #2598
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ahojnnes
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ahojnnes
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Jun 18, 2024
Co-authored-by: Johannes Schönberger <[email protected]>
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The covariance propagation of pose inverse via adjoint introduced in #2598 followed the lamar convention, which was just found to be actually broken here: microsoft/lamar-benchmark#84. This PR fixes the propagation and added more cycle-consistent tests on the property of the adjoint matrix. To simplify the code for calculating adjoint inverse the function ``CrossProductMatrix`` is moved into ``rigid3.h``.
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Reference:
The adjoint matrix is very useful on propagating uncertainty for Rigid3d.
A unit test is added as well.