And this delta theta change is color coded in this picture, in terms of value.

Green meaning small values, red or yellow means larger values.

As you can see, as we move to the left side of this camera,

every time we take a delta X,

this will lead to a fairly large change in terms of projection into the image.

And that's meeting with with this particular Jacobian.

Recall we have initialized ourself at this gray point and what we're interested

really is the Jacobian at that point but not entire cause function space.

We illustrate this just for illustration purpose.

Similarly, we can look at a Jacobian with respect to delta Y.

If I move this conjecture point in the delta Y, direction up and down,

how much is projection in image 1, respect to camera 1 is changing.

And we showed this again for Camera 2 for its movement XY.

If I adjust this initialize point in the XY directions,

how much the image coordinates in 1D will change.

And this is how much is to change for

the Y direction respect to Camera 3.

So this Jacobian told us that if I remove a points in the search space by a little

in bit in X and little in Y, how much is image projection will change.

We illustrate this for all the points in the search space.