10.4 Adjoint Representation

$\displaystyle X$	$\displaystyle =$	$\displaystyle \left(\begin{array}{c\vert c} \mathbf{R} & \mathbf{t}\\ \hline \mathbf{0} & s^{-1} \end{array}\right)\in\mathrm{Sim}(3)$	(151)
$\displaystyle \mathrm{Adj}_{X}$	$\displaystyle =$	$\displaystyle \left(\begin{array}{c\vert c\vert c} s\mathbf{R} & s\mathbf{t}_{\... ... \hline \mathbf{0} & \mathbf{0} & 1 \end{array}\right)\in\mathbb{R}^{7\times7}$	(152)