CS计算机代考程序代写 function [ Jac, residual ] = deriveNumeric( IRef, DRef, I, xi, K )

function [ Jac, residual ] = deriveNumeric( IRef, DRef, I, xi, K )
% calculate numeric derivative (slow)

% compute residuals for xi
residual = calcErr(IRef,DRef,I,xi,K);

% initialize Jacobian
Jac = zeros(size(I,1) * size(I,2),6);

% compute Jacobian numerically
eps = 1e-6;
for j=1:6
epsVec = zeros(6,1);
epsVec(j) = eps;

% multiply epsilon from left onto the current estimate.
xiPerm = se3Log(se3Exp(epsVec) * se3Exp(xi));
% TODO compute respective column of the Jacobian
% (hint: difference between residuals of xi and xiPerm)
end
end