Every reachable parameter value is positive semi-definite by
construction; gradient descent on the six raw entries would not
stay there.
Usage
morie_gsplat_covariance(scale, quaternion)
Arguments
- scale
Length-3 positive scale vector.
- quaternion
Length-4 (unnormalised) rotation quaternion.
Value
A list with covariance, rotation,
scale and note.
References
Kerbl, B. et al. (2023).
Examples
c <- morie_gsplat_covariance(scale = c(1, 2, 3), quaternion = c(1, 0, 0, 0))
c$covariance # identity rotation: diag(scale^2)
#> [,1] [,2] [,3]
#> [1,] 1 0 0
#> [2,] 0 4 0
#> [3,] 0 0 9
