diff options
Diffstat (limited to 'extern/ceres/internal/ceres/corrector.cc')
| -rw-r--r-- | extern/ceres/internal/ceres/corrector.cc | 4 |
1 files changed, 2 insertions, 2 deletions
diff --git a/extern/ceres/internal/ceres/corrector.cc b/extern/ceres/internal/ceres/corrector.cc index 720182868c1..4ac0dc3cd86 100644 --- a/extern/ceres/internal/ceres/corrector.cc +++ b/extern/ceres/internal/ceres/corrector.cc @@ -43,7 +43,7 @@ Corrector::Corrector(const double sq_norm, const double rho[3]) { sqrt_rho1_ = sqrt(rho[1]); // If sq_norm = 0.0, the correction becomes trivial, the residual - // and the jacobian are scaled by the squareroot of the derivative + // and the jacobian are scaled by the square root of the derivative // of rho. Handling this case explicitly avoids the divide by zero // error that would occur below. // @@ -59,7 +59,7 @@ Corrector::Corrector(const double sq_norm, const double rho[3]) { // correction which re-wights the gradient of the function by the // square root of the derivative of rho, and the Gauss-Newton // Hessian gets both the scaling and the rank-1 curvature - // correction. Normaly, alpha is upper bounded by one, but with this + // correction. Normally, alpha is upper bounded by one, but with this // change, alpha is bounded above by zero. // // Empirically we have observed that the full Triggs correction and |