SOLVED: (Jacobian form of the chain rule:) Let F : R^2 -> R^1 be given by F(x,y) = (x^2 + y^2)^(1/2). Also, let G : R^3 -> R^2 be given by G(u,v,w) = (
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Details on jacobian of point to plane factor · Issue #25 · hyye/lio-mapping · GitHub