12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

fixed small typos

release/4.3a0
lcarlone 2020-12-08 19:26:10 -05:00
parent 9a841a2c34
commit 0c079c66d0
2 changed files with 3 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
gtsam/sfm/ShonanAveraging.cpp
View File

@ -349,7 +349,7 @@ static double Kappa(const BinaryMeasurement<T> &measurement,
// If robust, check if optimality certificate is expected // If robust, check if optimality certificate is expected
if (parameters.getCertifyOptimality()) { if (parameters.getCertifyOptimality()) {
throw std::invalid_argument( throw std::invalid_argument(
"Verification of optimality does not work with robust cost."); "Certification of optimality does not work with robust cost.");
} else { } else {
// Optimality certificate not required, so setting default sigma // Optimality certificate not required, so setting default sigma
sigma = 1; sigma = 1;
@ -811,7 +811,7 @@ std::pair<Values, double> ShonanAveraging<d>::run(const Values &initialEstimate,
// Optimize until convergence at this level // Optimize until convergence at this level
Qstar = tryOptimizingAt(p, initialSOp); Qstar = tryOptimizingAt(p, initialSOp);
if (parameters_.getUseHuber() || !parameters_.getCertifyOptimality()) { if (parameters_.getUseHuber() || !parameters_.getCertifyOptimality()) {
// in this case, there is no optimality verification // in this case, there is no optimality certification
if (pMin != pMax) { if (pMin != pMax) {
throw std::runtime_error( throw std::runtime_error(
"When using robust norm, Shonan only tests a single rank. Set pMin = pMax"); "When using robust norm, Shonan only tests a single rank. Set pMin = pMax");

2
gtsam/sfm/ShonanAveraging.h
View File

@ -46,7 +46,7 @@ struct GTSAM_EXPORT ShonanAveragingParameters {
using Rot = typename std::conditional<d == 2, Rot2, Rot3>::type; using Rot = typename std::conditional<d == 2, Rot2, Rot3>::type;
using Anchor = std::pair<size_t, Rot>; using Anchor = std::pair<size_t, Rot>;
// Paremeters themselves: // Parameters themselves:
LevenbergMarquardtParams lm; ///< LM parameters LevenbergMarquardtParams lm; ///< LM parameters
double optimalityThreshold; ///< threshold used in checkOptimality double optimalityThreshold; ///< threshold used in checkOptimality
Anchor anchor; ///< pose to use as anchor if not Karcher Anchor anchor; ///< pose to use as anchor if not Karcher