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 |
