[sfm] Performance improvements: optimize RemoveOutliers_AngleError

src/aliceVision/camera/IntrinsicBase.hpp

@@ -464,7 +464,8 @@ class IntrinsicBase
 };
 
 /**
- * @brief Return the angle (degree) between two bearing vector rays
+ * @brief Apply intrinsic and extrinsic parameters to unit vector
+ * from the cameras focus to a point on the camera plane
  * @param[in] pose Extrinsic pose
  * @param[in] intrinsic Intrinsic camera paremeters
  * @param[in] x Point in image

src/aliceVision/sfm/sfmFilters.cpp

@@ -86,7 +86,7 @@ IndexT RemoveOutliers_AngleError(sfmData::SfMData& sfmData, const double dMinAcc
 
     // Greedy algorithm almost always finds an acceptable angle in 1-5 iterations (if it exists).
     // It works by greedily chasing the first larger view angle found from the current greedy index.
-    // View angles have a spartial distribution, so greedily jumping over larger and larger angles
+    // View angles have a sparial distribution, so greedily jumping over larger and larger angles
     // forces the greedy index towards the outside of the distribution.
     double dGreedyCos = 1.1;
     Eigen::Matrix<double, 3, Eigen::Dynamic>::Index greedyI = 0;