?? normjac.m
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% SLAM Summer School 2006, Oxford.% Practical 3. SLAM using Monocular Vision.% Practical exercise.% J.M.M. Montiel, Javier Civera, Andrew J. Davison.% {josemari, jcivera}@unizar.es, ajd@doc.ic.ac.uk%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%function J=normJac(q) r=q(1); x=q(2); y=q(3); z=q(4); J=(r*r+x*x+y*y+z*z)^(-3/2)*... [x*x+y*y+z*z -r*x -r*y -r*z; -x*r r*r+y*y+z*z -x*y -x*z; -y*r -y*x r*r+x*x+z*z -y*z; -z*r -z*x -z*y r*r+x*x+y*y]; return
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