In this technical note, we derive a closed-form expression for the affine transformation mapping local image patches between two calibrated views. We show that the transformation is a function of the relative camera pose, the image coordinates, and the local surface normal.

翻译：在这篇技术报告中，我们推导出了两个标定视图之间局部图像块映射的仿射变换闭式表达式。我们证明该变换是相对相机位姿、图像坐标和局部表面法向量的函数。