DSO - CoraseInitializer - Tong's This Is It

Direct sparse odometry

Variable used in `CoarseInitializer`	Variable used here	Meaning
`residual`	$I_{j}\left[\mathbf{p}_{j}\right]-e^{a_{ji}}I_{i}[\mathbf{p}_{i}] - b_{ji}$	single residual
`hw`	$\omega_{h}$	Huber weight
`refToNew_aff_current`	$\begin{bmatrix}a_{ji} \\ b_{ji}\end{bmatrix}$	photometric affine parameters
`r2new_aff`	$\begin{bmatrix}e^{a_{ji}} \\ b_{ji}\end{bmatrix}$	photometric affine parameters
`dp0`	$\frac{\partial r_{ji}}{\partial t_{ji}^x}$	derivative wrt. `translation`
`dp1`	$\frac{\partial r_{ji}}{\partial t_{ji}^y}$	derivative wrt. `translation`
`dp2`	$\frac{\partial r_{ji}}{\partial t_{ji}^z}$	derivative wrt. `translation`
`dp3`	$\frac{\partial r_{ji}}{\partial \phi_{ji}^x}$	derivative wrt. `rotation`
`dp4`	$\frac{\partial r_{ji}}{\partial \phi_{ji}^y}$	derivative wrt. `rotation`
`dp5`	$\frac{\partial r_{ji}}{\partial \phi_{ji}^z}$	derivative wrt. `rotation`
`dp6`	$\frac{\partial r_{ji}}{\partial a_{ji}}$	derivative wrt. photometric affine parameters
`dp7`	$\frac{\partial r_{ji}}{\partial b_{ji}}$	derivative wrt. photometric affine parameters
`dd`	$\frac{\partial r_{ji}}{\partial \rho_{i}}$	derivative wrt. inverse depth i
`r`	$r_{ji}$	single residual after applying Huber kernel

DSO - CoraseInitializer