resF |
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Jpdxi |
\(\frac{\partial\mathbf{p}_j}{\partial\boldsymbol{\xi_{ji}}}\) |
derivative of pixel j wrt. relative pose |
Jpdc |
\(\frac{\partial\mathbf{p}_j}{\partial\begin{bmatrix} f_{x} \\ f_{y} \\ c_{x} \\ c_{y}\end{bmatrix}} = \frac{\partial r_{ji}}{\partial \mathbf{C}}\) |
derivative of pixel j wrt. intrinsic parameters |
Jpdd |
\(\frac{\partial\mathbf{p}_j}{\partial \rho_{i}}\) |
derivative of pixel j wrt. inverse depth i |
JIdx |
\(\frac{\partial r_{ji}}{\partial\mathbf{p}_j}\) |
derivative of residual wrt. pixel j |
JabF |
\(\frac{\partial r_{ji}}{\partial \begin{bmatrix} -e^{a_{ji}} \\ -b_{ji}\end{bmatrix}} = \frac{\partial r_{ji}}{\partial \mathbf{a}_{ji}}\) |
derivative of residual wrt. photometric parameters |
JIdx2 |
\((\frac{\partial r_{ji}}{\partial\mathbf{p}_j})^{T}\frac{\partial r_{ji}}{\partial\mathbf{p}_j}\) |
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JabJIdx |
\((\frac{\partial r_{ji}}{\partial \begin{bmatrix} -e^{a_{ji}} \\ -b_{ji}\end{bmatrix}})^{T}\frac{\partial r_{ji}}{\partial\mathbf{p}_j}\) |
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Jab2 |
\((\frac{\partial r_{ji}}{\partial \begin{bmatrix} -e^{a_{ji}} \\ -b_{ji}\end{bmatrix}})^{T}\frac{\partial r_{ji}}{\partial \begin{bmatrix} -e^{a_{ji}} \\ -b_{ji}\end{bmatrix}}\) |
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