Skip to content

Instantly share code, notes, and snippets.

@madratman
Last active March 28, 2018 01:32
Show Gist options
  • Save madratman/2953c83b64331fcde1950781dacfde6e to your computer and use it in GitHub Desktop.
Save madratman/2953c83b64331fcde1950781dacfde6e to your computer and use it in GitHub Desktop.
% Totally not inspired by LSD-SLAM https://vision.in.tum.de/_media/spezial/bib/engel14eccv.pdf
\documentclass{article}
\usepackage[utf8]{inputenc}
\usepackage{amsmath}
\usepackage{amsfonts}
\begin{document}
A 3D rigid body transform, $\mathbf{G} \in SE(3)$ :
\begin{flalign*}
&\mathbf{G} =
\begin{bmatrix}
\mathbf{R} & \mathbf{t}\\
\mathbf{0} & 1
\end{bmatrix}
\end{flalign*}
where $\mathbf{R} \in SO(3)$.
During optimization, \\
a minimal representation is given by \\
$\mathbf{\xi} \in \mathit{se}(3)$ of the associated lie algebra.\\
oh btw, log map is bla.\\
exp map is blabla.
\end{document}
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment