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问一下旋转预测中关于的jacobian
你好，很好的教程和重现。
我看了代码和PTAM对比，有个地方不明白的，对于jacobian。
2D rigid transform三个未知量[tx,ty,theta]，f对于tx，ty的求导都容易理解，就是x,y方向上的gradient；对于旋转角度theta的求导不理解，为什么是kgradient.y-jgradient.x？
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