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ahojnnes
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Thank you! Can we somehow support SphereManifold<2> as well (this is for example useful to represent 3D lines with minimal parametrization of Plucker coordinate? For now Matrix<double, N, N-1, RowMajor> with N-1 == 1 is an ill-formed Eigen type.
B1ueber2y
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Replace SphereManifold's R^3-specific tangent basis with a templated implementation: closed form for N=3, Householder reflection otherwise. Both keep the solver allocation-free. Add SphereManifold9 retract/Jacobian tests.
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Done — |
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Generalizes
SphereManifoldfrom the 2-sphere to R^N, including the circle (N=2): the N=3 closed-form tangent basis is kept, general N uses a Householder reflection. Both paths keep the solver allocation-free. Needed for the 8-sphere homography parameterization in #4770.Test plan:
estimators_cost_functions/tiny_manifold_test(incl. newSphereManifold2/SphereManifold9tests) andoptim/tiny_solver_test(incl. new S1 convergence test) pass.