From ad697e80a80acee1b57a2373e2b83d973c369f63 Mon Sep 17 00:00:00 2001 From: jjd9 <32826253+jjd9@users.noreply.github.com> Date: Sat, 10 Feb 2024 18:24:54 -0600 Subject: [PATCH] Fix typo in minimal solver docstring Co-authored-by: ymd-stella <7959916+ymd-stella@users.noreply.github.com> --- src/stella_vslam/solve/essential_solver.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/stella_vslam/solve/essential_solver.h b/src/stella_vslam/solve/essential_solver.h index 27461724..2058b93c 100644 --- a/src/stella_vslam/solve/essential_solver.h +++ b/src/stella_vslam/solve/essential_solver.h @@ -53,7 +53,7 @@ class essential_solver { static Mat33_t create_E_21(const Mat33_t& rot_1w, const Vec3_t& trans_1w, const Mat33_t& rot_2w, const Vec3_t& trans_2w); private: - //! Compute an essential matrix with 5-point algorithm from Stewenius et al. (accepts 5 or more corresponding sets of bearing vectors). but works best + //! Compute essential matrices with 5-point algorithm from Stewenius et al. (accepts 5 or more corresponding sets of bearing vectors). but works best // when used with RANSAC since it can produce up to 10 feasible essential matrices that need to be validated std::vector compute_E_21_minimal(const eigen_alloc_vector& x1, const eigen_alloc_vector& x2);