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in the paper,the photometric cost is Ic-Ir, and use inverse compositional Lucas-Kanade algorithm, so Ic can be a constant var, the jacobi of uv can be: J[0] = 0.5 * (it[1] - it[-1]); J[1] = 0.5 * (it[ref_step] - it[-ref_step]);
but in the source code, the error is: float res = search_pixel - alpha * (*it_ref) + mean_diff; search_pixel is in cur_img, it_ref is the patch in ref_img, if use this cost function, the J[0] and J[1] should have a coefficient alpha?
Am i right?
or the gradient expansion at alpha=1 and beta=0,so the J[0] and J[1] is only related to the photometric gradient?
The text was updated successfully, but these errors were encountered:
in the paper,the photometric cost is
Ic-Ir
, and use inverse compositional Lucas-Kanade algorithm, soIc
can be a constant var, the jacobi of uv can be:J[0] = 0.5 * (it[1] - it[-1]);
J[1] = 0.5 * (it[ref_step] - it[-ref_step]);
but in the source code, the error is:
float res = search_pixel - alpha * (*it_ref) + mean_diff;
search_pixel
is in cur_img,it_ref
is the patch in ref_img, if use this cost function, theJ[0]
andJ[1]
should have a coefficientalpha
?Am i right?
or the gradient expansion at alpha=1 and beta=0,so the
J[0]
andJ[1]
is only related to the photometric gradient?The text was updated successfully, but these errors were encountered: