residual |
Ij[pj]−eajiIi[pi]−bjiIj[pj]−eajiIi[pi]−bji |
single residual |
hw |
ωh |
Huber weight |
refToNew_aff_current |
[ajibji] |
photometric affine parameters |
r2new_aff |
[eajibji] |
photometric affine parameters |
dp0 |
∂rji∂txji |
derivative wrt. translation |
dp1 |
∂rji∂tyji |
derivative wrt. translation |
dp2 |
∂rji∂tzji |
derivative wrt. translation |
dp3 |
∂rji∂ϕxji |
derivative wrt. rotation |
dp4 |
∂rji∂ϕyji |
derivative wrt. rotation |
dp5 |
∂rji∂ϕzji |
derivative wrt. rotation |
dp6 |
∂rji∂aji |
derivative wrt. photometric affine parameters |
dp7 |
∂rji∂bji |
derivative wrt. photometric affine parameters |
dd |
∂rji∂ρi |
derivative wrt. inverse depth i |
r |
rji |
single residual after applying Huber kernel |