Corrected typo in comment.
The inverted JtJ does not multiply itself, but rather Jte. Correct this in the comment.
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@ -1583,7 +1583,7 @@ static inline void sacRefine(RHO_HEST_REFC* p){
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int i;
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float S, newS; /* Sum of squared errors */
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float gain; /* Gain-parameter. */
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float L = 0.01f;/* Lambda of LevMarq */
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float L = 100.0f;/* Lambda of LevMarq */
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float dH[8], newH[8];
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/**
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@ -1614,7 +1614,7 @@ static inline void sacRefine(RHO_HEST_REFC* p){
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* The system above is solved by Cholesky decomposition of a
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* sufficently-damped JtJ into a lower-triangular matrix (and its
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* transpose), whose inverse is then computed. This inverse (and its
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* transpose) then multiply JtJ in order to find dH.
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* transpose) then multiply Jte in order to find dH.
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*/
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while(!sacChol8x8Damped(p->lm.JtJ, L, p->lm.tmp1)){
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