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Fix more typos in CostFunctionToFunctor documentation.

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Change-Id: I337e67152e4c00b91f7b8f0bb471d5a1896f46dc
This commit is contained in:
Sameer Agarwal
2019-03-10 20:56:41 -07:00
parent 99b5aa4aa5
commit eaec6a9d0c
1 changed files with 8 additions and 8 deletions
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docs/source/nnls_modeling.rst
+8 -8
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@@ -724,14 +724,14 @@ Numeric Differentiation & LocalParameterization
bool operator()(const double* calibration,
const double* point,
double* residuals) {
double* residuals) const {
double projection[2];
ThirdPartyProjectionFunction(calibration, point, projection);
residuals[0] = observation_[0] - projection[0];
residuals[1] = observation_[1] - projection[1];
return true;
}
double observation_[2];
double observation_[2];
};
@@ -746,10 +746,9 @@ Numeric Differentiation & LocalParameterization
struct CameraProjection {
CameraProjection(double* observation)
intrinsic_projection_(
new NumericDiffCostFunction<IntrinsicProjection, CENTRAL, 2, 5, 3>(
new IntrinsicProjection(observation))) {
}
: intrinsic_projection_(
new NumericDiffCostFunction<IntrinsicProjection, CENTRAL, 2, 5, 3>(
new IntrinsicProjection(observation))) {}
template <typename T>
bool operator()(const T* rotation,
@@ -759,13 +758,14 @@ Numeric Differentiation & LocalParameterization
T* residuals) const {
T transformed_point[3];
RotateAndTranslatePoint(rotation, translation, point, transformed_point);
return intrinsic_projection_(intrinsics, transformed_point, residual);
return intrinsic_projection_(intrinsics, transformed_point, residuals);
}
private:
CostFunctionToFunctor<2,5,3> intrinsic_projection_;
CostFunctionToFunctor<2, 5, 3> intrinsic_projection_;
};
:class:`DynamicCostFunctionToFunctor`
=====================================