pose update

[Tomzxcv]

hi, i can't understand to pose update in
https://github.com/fixstars/cuda-bundle-adjustment/blob/master/src/cuda_block_solver.cu#L864
can you introduce in detail or recommend some books, thanks.

[atakagi-fixstars]

Hi, @Tomzxcv

This paper may help you.
http://www.ethaneade.com/lie.pdf

Regards,