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How does RTI Viewer calculate Normal

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In the source code of RTI viewer, I found the following formula to calculate the normal of each pixel from the 6 coefficients:

1227441183__002.png.118bbcfca31f033653569c1719acd6e4.png

Where does it derive from? Does any paper or book mention this topic? 

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It is simply the stationary point of the paraboloid described by the 6 coefficients. The formula is described in the original PTM paper:

http://www.hpl.hp.com/research/ptm/papers/ptm.pdf

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