doco

Author: petercorke

symbolic/README.md

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+# Symbolic
+
+This folder contains a SymPy script that computes the Jacobians and projection function
+for bundle adjustment. Pose is expressed as a translation vector plus the vector
+part of a unit quaternion, the `vector` method of the `UnitQuaternion` class.
+
+This code is generated as `camera_derivatives.py` which is wrapped by the `derivatives` 
+method of the `CentralCamera` class.