%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% 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