From b90800f0c7dd7df8927100a87f10c92c26ff0f16 Mon Sep 17 00:00:00 2001 From: Olexa Bilaniuk Date: Wed, 4 Feb 2015 12:12:14 -0500 Subject: [PATCH] Corrected typo in comment. The inverted JtJ does not multiply itself, but rather Jte. Correct this in the comment. --- modules/calib3d/src/rhorefc.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/modules/calib3d/src/rhorefc.cpp b/modules/calib3d/src/rhorefc.cpp index 6fc410d98a..6d89244805 100644 --- a/modules/calib3d/src/rhorefc.cpp +++ b/modules/calib3d/src/rhorefc.cpp @@ -1583,7 +1583,7 @@ static inline void sacRefine(RHO_HEST_REFC* p){ int i; float S, newS; /* Sum of squared errors */ float gain; /* Gain-parameter. */ - float L = 0.01f;/* Lambda of LevMarq */ + float L = 100.0f;/* Lambda of LevMarq */ float dH[8], newH[8]; /** @@ -1614,7 +1614,7 @@ static inline void sacRefine(RHO_HEST_REFC* p){ * The system above is solved by Cholesky decomposition of a * sufficently-damped JtJ into a lower-triangular matrix (and its * transpose), whose inverse is then computed. This inverse (and its - * transpose) then multiply JtJ in order to find dH. + * transpose) then multiply Jte in order to find dH. */ while(!sacChol8x8Damped(p->lm.JtJ, L, p->lm.tmp1)){