UniformGaussNewtonModel.gn_hessian#

t3toolbox.fitting.UniformGaussNewtonModel.gn_hessian(p)#

def gn_hessian(self, p: ut3m.UT3Tangent) -> ut3m.UT3Tangent:  # H p = Π 𝒥ᵀ 𝒥 Π p (+ H_R p)

The Gauss-Newton Hessian action H p = Π 𝒥ᵀ 𝒥 Π p (H = JᵀJ), a UT3Tangent at frame, plus the regularizer term H_R p when set.