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Update usage docs with correct API for CentralRelativeAdapter #83

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Update usage docs with correct API for CentralRelativeAdapter #83

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8 changes: 4 additions & 4 deletions doc/addons/02_how_to_use.dox
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Original file line number Diff line number Diff line change
Expand Up @@ -220,7 +220,7 @@ relative_pose::CentralRelativeAdapter adapter(

// Relative translation with only two point-correspondences
// (no or known rotation)
adapter.setR(knownRotation);
adapter.setR12(knownRotation);
translation_t twopt_translation =
relative_pose::twopt( adapter, true, indices1 );

Expand All @@ -245,13 +245,13 @@ essential_t eightpt_essential =
relative_pose::eightpt( adapter, indices4 );

// Kneip's eigensolver
adapter.setR(initial_rotation);
adapter.setR12(initial_rotation);
eigensolver_rotation =
relative_pose::eigensolver( adapter, indices5 );

// non-linear optimization (using all available correspondences)
adapter.sett(initial_translation);
adapter.setR(initial_rotation);
adapter.sett12(initial_translation);
adapter.setR12(initial_rotation);
transformation_t nonlinear_transformation =
relative_pose::optimize_nonlinear(adapter);
\endcode
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