Potential fix for pull request finding

servantftransperfect · Copilot · web-flow · commit 30301eb67c18 · 2026-05-06T11:41:32.000+02:00
Co-authored-by: Copilot Autofix powered by AI &lt;175728472+Copilot@users.noreply.github.com&gt;
diff --git a/src/aliceVision/sfm/bundle/costfunctions/projection.hpp b/src/aliceVision/sfm/bundle/costfunctions/projection.hpp
@@ -211,11 +211,10 @@ struct ProjectionRelativeErrorFunctor
             const T* parameter_refpose = parameters[3];
             const T* parameter_relativepoint = parameters[4];
 
-            /// (cam_T_world) * (ref_T_world)^-1 * ref_p
-            /// cam_R_world * (ref_R_world^T * ref_p - ref_R_world^T * ref_t_world) + cam_t_world
-            /// cam_R_world * (ref_R_world^T * ref_p + ref_c_world) + cam_t_world
-            /// cam_R_world * (ref_R_world^T * ref_p + ref_c_world) - cam_R_world * cam_c_world
-            /// cam_R_world * (ref_R_world^T * ref_p + ref_c_world - cam_c_world)
+            /// Center-based pose parameterization:
+            /// worldPoint = refcam_R^T * relpoint + refcam_c
+            /// transformedPoint = cam_R * (worldPoint - cam_c)
+            ///                  = cam_R * (refcam_R^T * relpoint + refcam_c - cam_c)
 
             //Retrieve point
             T relpoint[3];
