Pose3 internal representation #1472
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cbentejac
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Current pose3 is internally represented by a rotation matrix and a center (the inverse of the translation).
I propose to change its internal representation with an homogeneous transformation.
The objective is to be able to directly use a sfmData as the internal storage of the bundle adjustment. The next version (WIP) should work on matrices using Lie Algebra. This is an intermediate step toward this goal.
Note that this has no effect on the other part of aliceVision (except some part which directly used the internal components).