[Toon-members] tag tag/five_point.h src/five_point.cpp

[Gerhard Reitmayr]

CVSROOT:        /cvsroot/toon
Module name:    tag
Changes by:     Gerhard Reitmayr <gerhard>      09/08/15 21:37:05

Modified files:
        tag            : five_point.h 
        src            : five_point.cpp 

Log message:
        doc refinement

CVSWeb URLs:
http://cvs.savannah.gnu.org/viewcvs/tag/tag/five_point.h?cvsroot=toon&r1=1.10&r2=1.11
http://cvs.savannah.gnu.org/viewcvs/tag/src/five_point.cpp?cvsroot=toon&r1=1.20&r2=1.21

Patches:
Index: tag/five_point.h
===================================================================
RCS file: /cvsroot/toon/tag/tag/five_point.h,v
retrieving revision 1.10
retrieving revision 1.11
diff -u -b -r1.10 -r1.11
--- tag/five_point.h    12 Jul 2009 12:28:32 -0000      1.10
+++ tag/five_point.h    15 Aug 2009 21:37:05 -0000      1.11
@@ -21,8 +21,8 @@
 /// Computes essential matrices representing the epipolar geometry between 
correspondences.
 /// This function implements Nister's 5 point algorithm. For all of the input 
points pairs,
 /// each out matrix satisfies the condition:
-/// \f[
-///  \vec{\text{second}}\  E \ \vec{\text{first}} = 0.
+/// \f[ \
+///  \vec{\text{second}}\  E \ \vec{\text{first}} = 0. \
 /// \f]
 /// @param points a array of pairs of directions in 3 space containing 
correspondences
 /// @param initial an inital value for the transformation used as starting 
point of the optimization
@@ -44,7 +44,7 @@
 /// This function minimizes the algebraic error of the epipolar geometry 
through non-linear optimization of the
 /// rotation and direction of the translation.
 /// For all of the input points pairs,
-/// each out matrix satisfies the condition: \f[
+/// each out matrix satisfies the condition:
 /// \f[
 ///  \vec{\text{second}}\  E \ \vec{\text{first}} = 0.
 /// \f]

Index: src/five_point.cpp
===================================================================
RCS file: /cvsroot/toon/tag/src/five_point.cpp,v
retrieving revision 1.20
retrieving revision 1.21
diff -u -b -r1.20 -r1.21
--- src/five_point.cpp  12 Jul 2009 12:28:31 -0000      1.20
+++ src/five_point.cpp  15 Aug 2009 21:37:05 -0000      1.21
@@ -70,14 +70,14 @@
 // This function finds some vectors spanning the null space of m, assuming
 // that none of the rows of m are linearly dependent.
 //
-//  m is a ahort, fat matrix.
+//  m is a short, fat matrix.
 //  The Gauss-Jordan decomposition is [I|A]
 //
-//  [I|A] * [A^T|I]^T = [0]
+//  [I|A] * [A^T|-I]^T = [0]
 //
 // Since [I|A] spans the same space as m, then:
 //
-// m * [A^T|I]^T = [0]
+// m * [A^T|-I]^T = [0]
 //
 // Therefore [A^T|I] spans the null space of m.
 template<int R, int C, class P> Matrix<C-R, C, P> dodgy_null(Matrix<R, C, P> m)
@@ -322,7 +322,7 @@
 //
 //The line normal therefore is v = [a b]
 //
-// r is the vector from [x0 y0] to any point on the line. The perpendicular 
diatance to the
+// r is the vector from [x0 y0] to any point on the line. The perpendicular 
distance to the
 // line is |r . v| / |v|
 //
 // d = | (x - x0)*a + (y-y0) * b | / sqrt(a^2 + b^2)