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

Attention: Patch coverage is 0% with 1 line in your changes missing coverage. Please review.

Project coverage is 45.56%. Comparing base (bcb4cb1) to head (9315929).
Report is 316 commits behind head on master.

Files with missing lines	Patch %	Lines
g2o/types/sba/edge_se3_expmap.cpp	0.00%	1 Missing ⚠️

Additional details and impacted files

@@            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     

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