From 8fb80db75bf710710a08b6c5a9711d00f63751ab Mon Sep 17 00:00:00 2001 From: Ignacio Vizzo Date: Tue, 5 Mar 2024 10:24:59 +0100 Subject: [PATCH] Bring comments for readbilty --- cpp/kiss_icp/core/Registration.cpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/cpp/kiss_icp/core/Registration.cpp b/cpp/kiss_icp/core/Registration.cpp index 0a0ba132..ba01155f 100644 --- 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