Renamed method
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38ac1b4837
commit
00cb637db3
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@ -102,7 +102,7 @@ class TransferFactor : public NoiseModelFactorN<F, F> {
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auto [Fca, Fcb] = getMatrices(F1, F2);
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auto [Fca, Fcb] = getMatrices(F1, F2);
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for (const auto& tuple : triplets_) {
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for (const auto& tuple : triplets_) {
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const auto& [pa, pb, pc] = tuple;
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const auto& [pa, pb, pc] = tuple;
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Point2 transferredPoint = Transfer(Fca, pa, Fcb, pb);
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Point2 transferredPoint = EpipolarTransfer(Fca, pa, Fcb, pb);
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Vector2 error = transferredPoint - pc;
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Vector2 error = transferredPoint - pc;
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errors.segment<2>(idx) = error;
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errors.segment<2>(idx) = error;
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idx += 2;
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idx += 2;
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