updating documentation for factor
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				|  | @ -294,12 +294,17 @@ class EssentialMatrixFactor3 : public EssentialMatrixFactor2 { | |||
| // EssentialMatrixFactor3
 | ||||
| 
 | ||||
| /**
 | ||||
|  * Factor that evaluates algebraic epipolar error (K^-1 p)'E (K^-1 p) for given | ||||
|  * essential matrix and calibration. The calibration is shared between two | ||||
|  * Binary factor that optimizes for E and calibration K using the algebraic | ||||
|  * epipolar error (K^-1 pA)'E (K^-1 pB). The calibration is shared between two | ||||
|  * images. | ||||
|  *  | ||||
|  * Note: as correspondences between 2d coordinates can only recover 7 DoF,  | ||||
|  * | ||||
|  * Note: As correspondences between 2d coordinates can only recover 7 DoF, | ||||
|  * this factor should always be used with a prior factor on calibration. | ||||
|  * Even with a prior, we can only optimize 2 DoF in the calibration. So the | ||||
|  * prior should have a noise model with very low sigma in the remaining | ||||
|  * dimensions. This has been tested to work on Cal3_S2. With Cal3Bundler, it | ||||
|  * works only with a strong prior (low sigma noisemodel) on all degrees of | ||||
|  * freedom. | ||||
|  */ | ||||
| template <class CALIBRATION> | ||||
| class EssentialMatrixFactor4 | ||||
|  | @ -316,15 +321,14 @@ class EssentialMatrixFactor4 | |||
|  public: | ||||
|   /**
 | ||||
|    *  Constructor | ||||
|    *  @param keyE Essential Matrix variable key | ||||
|    *  @param keyK Calibration variable key | ||||
|    *  @param keyE Essential Matrix (from camera B to A) variable key | ||||
|    *  @param keyK Calibration variable key (common for both cameras) | ||||
|    *  @param pA point in first camera, in pixel coordinates | ||||
|    *  @param pB point in second camera, in pixel coordinates | ||||
|    *  @param model noise model is about dot product in ideal, homogeneous | ||||
|    * coordinates | ||||
|    */ | ||||
|   EssentialMatrixFactor4(Key keyE, Key keyK, | ||||
|                          const Point2& pA, const Point2& pB, | ||||
|   EssentialMatrixFactor4(Key keyE, Key keyK, const Point2& pA, const Point2& pB, | ||||
|                          const SharedNoiseModel& model) | ||||
|       : Base(model, keyE, keyK), pA_(pA), pB_(pB) {} | ||||
| 
 | ||||
|  | @ -345,7 +349,7 @@ class EssentialMatrixFactor4 | |||
|   } | ||||
| 
 | ||||
|   /**
 | ||||
|    * @brief Calculate the algebraic epipolar error p' (K^-1)' E K p. | ||||
|    * @brief Calculate the algebraic epipolar error pA' (K^-1)' E K pB. | ||||
|    * | ||||
|    * @param E essential matrix for key keyE | ||||
|    * @param K calibration (common for both images) for key keyK | ||||
|  |  | |||
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