wangg12 / point_jacobian_hessian_wrt_translation_euler

Using sympy to compute analytic Jacobian and Hessian

x:

t:

p:

R = Rx Ry Rz:

T(p, x):

Jacobian:

Hessian:

If Magnusson used this tool, the typo in his NDT thesis might have been avoided.