Fix covariance propagation of pose inverse #3155
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ahojnnes
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Feb 12, 2025
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Edit: this PR proposal is still not correct. See update from microsoft/lamar-benchmark#84. Will follow up another one as a fix. |
ahojnnes
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Feb 17, 2025
…#3167) This was a big confusion. I added some comments to explain why the fix in #3155 was correct. In the end its because that in COLMAP we use the left convention, while in GTSAM and its reference paper here https://arxiv.org/pdf/1812.01537 the right convention was employed. This is also in preparation for another PR on propagating relative pose covariance in COLMAP (with left convention) with cross-pose correlation available. This will encode the fact that the close image has lower relative pose covariance and does not get affected by Gauge ambiguity.
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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
CrossProductMatrixis moved intorigid3.h.