EdgeSE3Expmap was modified

[dotatw]

I found that this edge is invalid through some experiments.I wonder if this is dueing to the inconsistent direction of the term shift in the derivation.I try to modified like this, and it works well.

[codecov]

Codecov Report

Merging #505 (9315929) into master (bcb4cb1) will increase coverage by 0.01%.
The diff coverage is 0.00%.

@@            Coverage Diff             @@
##           master     #505      +/-   ##
==========================================
+ Coverage   45.54%   45.56%   +0.01%     
==========================================
  Files         272      272              
  Lines       10483    10479       -4     
==========================================
  Hits         4775     4775              
+ Misses       5708     5704       -4     

Impacted Files	Coverage Δ
g2o/types/sba/edge_se3_expmap.cpp	40.90% <0.00%> (+6.29%)	⬆️

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