Correct spelling (contiguous, BANS)
Change-Id: I9d3363c3d6e251fbdcf41d6d9635543c7295c3a2
diff --git a/internal/ceres/block_jacobian_writer.h b/internal/ceres/block_jacobian_writer.h
index 52fa3c4..4ed0e66 100644
--- a/internal/ceres/block_jacobian_writer.h
+++ b/internal/ceres/block_jacobian_writer.h
@@ -79,7 +79,7 @@
// Stores the position of each residual / parameter jacobian.
//
// The block sparse matrix that this writer writes to is stored as a set of
- // contiguos dense blocks, one after each other; see BlockSparseMatrix. The
+ // contiguous dense blocks, one after each other; see BlockSparseMatrix. The
// "double* values_" member of the block sparse matrix contains all of these
// blocks. Given a pointer to the first element of a block and the size of
// that block, it's possible to write to it.
diff --git a/internal/ceres/corrector.cc b/internal/ceres/corrector.cc
index a84c442..a83de9e 100644
--- a/internal/ceres/corrector.cc
+++ b/internal/ceres/corrector.cc
@@ -87,7 +87,7 @@
// We now require that the first derivative of the loss function be
// positive only if the second derivative is positive. This is
// because when the second derivative is non-positive, we do not use
- // the second order correction suggested by BANS and instead use a
+ // the second order correction suggested by BAMS and instead use a
// simpler first order strategy which does not use a division by the
// gradient of the loss function.
CHECK_GT(rho[1], 0.0);
@@ -111,7 +111,7 @@
void Corrector::CorrectResiduals(const int num_rows, double* residuals) {
DCHECK(residuals != nullptr);
- // Equation 11 in BANS.
+ // Equation 11 in BAMS.
VectorRef(residuals, num_rows) *= residual_scaling_;
}
@@ -128,7 +128,7 @@
return;
}
- // Equation 11 in BANS.
+ // Equation 11 in BAMS.
//
// J = sqrt(rho) * (J - alpha^2 r * r' J)
//
diff --git a/internal/ceres/corrector.h b/internal/ceres/corrector.h
index b6997b1..37b10d7 100644
--- a/internal/ceres/corrector.h
+++ b/internal/ceres/corrector.h
@@ -30,7 +30,7 @@
//
// Class definition for the object that is responsible for applying a
// second order correction to the Gauss-Newton based on the ideas in
-// BANS by Triggs et al.
+// BAMS by Triggs et al.
#ifndef CERES_INTERNAL_CORRECTOR_H_
#define CERES_INTERNAL_CORRECTOR_H_
@@ -47,7 +47,7 @@
// The key idea here is to look at the expressions for the robustified
// gauss newton approximation and then take its square root to get the
// corresponding corrections to the residual and jacobian. For the
-// full expressions see Eq. 10 and 11 in BANS by Triggs et al.
+// full expressions see Eq. 10 and 11 in BAMS by Triggs et al.
class CERES_NO_EXPORT Corrector {
public:
// The constructor takes the squared norm, the value, the first and
