Explicit Jacobian for Pose3::between
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@ -4728,7 +4728,10 @@ between
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in its first argument,
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\begin_inset Formula
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\[
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\frac{\partial\left(T_{1}^{^{-1}}T_{2}\right)}{\partial\xi_{1}}=-\Ad{T_{2}^{^{-1}}T_{1}}
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\frac{\partial\left(T_{1}^{^{-1}}T_{2}\right)}{\partial\xi_{1}}=-\Ad{T_{2}^{^{-1}}T_{1}}=\left[\begin{array}{cc}
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-R_{2}^{T}R_{1} & 0\\
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R_{2}^{T}\left[t_{2}-t_{1}\right]_{\times}R_{1} & -R_{2}^{T}R_{1}
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\end{array}\right]
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\]
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\end_inset
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@ -5177,7 +5180,7 @@ Aligning 3D Scans
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\end_layout
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\begin_layout Standard
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Below is the explanaition underlying Pose3.align, i.e.
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Below is the explanation underlying Pose3.align, i.e.
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aligning two point clouds using SVD.
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Inspired but modified from CVOnline...
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\end_layout
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