Bring comments for readbilty

PRBonn · Mar 5, 2024 · 8fb80db · 8fb80db
1 parent f88310f
commit 8fb80db
Showing 1 changed file with 2 additions and 1 deletion.
diff --git a/cpp/kiss_icp/core/Registration.cpp b/cpp/kiss_icp/core/Registration.cpp
@@ -129,7 +129,8 @@ LinearSystem BuildLinearSystem(const Associations &associations, double kernel)
                 r.begin(), r.end(), J, sum_linear_systems, [&](const auto &association) {
                     const auto &[J_r, residual] = compute_jacobian_and_residual(association);
                     const double w = GM_weight(residual.squaredNorm());
-                    return LinearSystem(J_r.transpose() * w * J_r, J_r.transpose() * w * residual);
+                    return LinearSystem(J_r.transpose() * w * J_r,        // JTJ
+                                        J_r.transpose() * w * residual);  // JTr
                 });
         },
         // 2nd Lambda: Parallel reduction of the private Jacboians