About the derivative from SE3 to dual quaternion: p_SE3_p_dq

[xiayeqingfeng]

Thank you for you excellent work.

I carefully read the marital "Derivation of Jacobi Matrices of the optimization in Dynamic Fusion" you shared. I have difficulty to calculate the derivative from SE3 to dual quaternion. As p_SE3_p_dq in your note.

Can you explain the following questions for me to better understand the derivative calculation process? Thank you in advance!

1. Why the derivative from SE3 to dual quaternion equals to the sum of the derivative from SE3 to each component of the dual quaternion? (As in your note)
2. Is this following equation right? : patial_T / patial_dq = \Sigma{patial_T / patial_dq(i)}

[vividaner]

hi, @xiayeqingfeng @dolphin-li I am really interested in the derivation part, may I know how to get the material "Derivation of Jacobi Matrices of the optimization in Dynamic Fusion", as I can't see it in the repo. Thanks.

[vividaner]

I found the material in the closed ticket, please ignore my question, thanks.