From b0fb6a3908efac0a3992e29b96862732210f117b Mon Sep 17 00:00:00 2001 From: Ayush Baid Date: Mon, 26 Apr 2021 20:52:17 -0400 Subject: [PATCH] renaming key variable --- gtsam/slam/EssentialMatrixFactor.h | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/gtsam/slam/EssentialMatrixFactor.h b/gtsam/slam/EssentialMatrixFactor.h index 786b9596b4..01d6233323 100644 --- a/gtsam/slam/EssentialMatrixFactor.h +++ b/gtsam/slam/EssentialMatrixFactor.h @@ -313,17 +313,17 @@ class EssentialMatrixFactor4 public: /** * Constructor - * @param essentialMatrixKey Essential Matrix variable key - * @param calibrationKey Calibration variable key + * @param keyE Essential Matrix variable key + * @param keyK Calibration variable key * @param pA point in first camera, in pixel coordinates * @param pB point in second camera, in pixel coordinates * @param model noise model is about dot product in ideal, homogeneous * coordinates */ - EssentialMatrixFactor4(Key essentialMatrixKey, Key calibrationKey, + EssentialMatrixFactor4(Key keyE, Key keyK, const Point2& pA, const Point2& pB, 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 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. * - * @param E essential matrix for key essentialMatrixKey - * @param K calibration (common for both images) for key calibrationKey + * @param E essential matrix for key keyE + * @param K calibration (common for both images) for key keyK * @param H1 optional jacobian in E * @param H2 optional jacobian in K * @return * Vector