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renaming key variable

release/4.3a0
Ayush Baid 2021-04-26 20:52:17 -04:00
parent b00046c81a
commit b0fb6a3908
1 changed files with 6 additions and 6 deletions
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12
gtsam/slam/EssentialMatrixFactor.h
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@ -313,17 +313,17 @@ class EssentialMatrixFactor4
public: public:
/** /**
* Constructor * Constructor
* @param essentialMatrixKey Essential Matrix variable key * @param keyE Essential Matrix variable key
* @param calibrationKey Calibration variable key * @param keyK Calibration variable key
* @param pA point in first camera, in pixel coordinates * @param pA point in first camera, in pixel coordinates
* @param pB point in second camera, in pixel coordinates * @param pB point in second camera, in pixel coordinates
* @param model noise model is about dot product in ideal, homogeneous * @param model noise model is about dot product in ideal, homogeneous
* coordinates * coordinates
*/ */
EssentialMatrixFactor4(Key essentialMatrixKey, Key calibrationKey, EssentialMatrixFactor4(Key keyE, Key keyK,
const Point2& pA, const Point2& pB, const Point2& pA, const Point2& pB,
const SharedNoiseModel& model) const SharedNoiseModel& model)
: Base(model, essentialMatrixKey, calibrationKey), pA_(pA), pB_(pB) {} : Base(model, keyE, keyK), pA_(pA), pB_(pB) {}
/// @return a deep copy of this factor /// @return a deep copy of this factor
gtsam::NonlinearFactor::shared_ptr clone() const override { gtsam::NonlinearFactor::shared_ptr clone() const override {
@ -345,8 +345,8 @@ class EssentialMatrixFactor4
/** /**
* @brief Calculate the algebraic epipolar error p' (K^-1)' E K p. * @brief Calculate the algebraic epipolar error p' (K^-1)' E K p.
* *
* @param E essential matrix for key essentialMatrixKey * @param E essential matrix for key keyE
* @param K calibration (common for both images) for key calibrationKey * @param K calibration (common for both images) for key keyK
* @param H1 optional jacobian in E * @param H1 optional jacobian in E
* @param H2 optional jacobian in K * @param H2 optional jacobian in K
* @return * Vector * @return * Vector