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updating documentation for factor

release/4.3a0
akrishnan86 2021-06-16 19:08:43 -07:00
parent d9a8111bbd
commit 47f9f30b39
1 changed files with 13 additions and 9 deletions
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22
gtsam/slam/EssentialMatrixFactor.h
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@ -294,12 +294,17 @@ class EssentialMatrixFactor3 : public EssentialMatrixFactor2 {
// EssentialMatrixFactor3 // EssentialMatrixFactor3
/** /**
* Factor that evaluates algebraic epipolar error (K^-1 p)'E (K^-1 p) for given * Binary factor that optimizes for E and calibration K using the algebraic
* essential matrix and calibration. The calibration is shared between two * epipolar error (K^-1 pA)'E (K^-1 pB). The calibration is shared between two
* images. * 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. * 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> template <class CALIBRATION>
class EssentialMatrixFactor4 class EssentialMatrixFactor4
@ -316,15 +321,14 @@ class EssentialMatrixFactor4
public: public:
/** /**
* Constructor * Constructor
* @param keyE Essential Matrix variable key * @param keyE Essential Matrix (from camera B to A) variable key
* @param keyK Calibration variable key * @param keyK Calibration variable key (common for both cameras)
* @param pA point in first camera, in pixel coordinates * @param pA point in first camera, in pixel coordinates
* @param pB point in second camera, in pixel coordinates * @param pB point in second camera, in pixel coordinates
* @param model noise model is about dot product in ideal, homogeneous * @param model noise model is about dot product in ideal, homogeneous
* coordinates * coordinates
*/ */
EssentialMatrixFactor4(Key keyE, Key keyK, EssentialMatrixFactor4(Key keyE, Key keyK, const Point2& pA, const Point2& pB,
const Point2& pA, const Point2& pB,
const SharedNoiseModel& model) const SharedNoiseModel& model)
: Base(model, keyE, keyK), pA_(pA), pB_(pB) {} : 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 E essential matrix for key keyE
* @param K calibration (common for both images) for key keyK * @param K calibration (common for both images) for key keyK