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Rename factor

release/4.3a0
Frank Dellaert 2024-11-05 17:24:13 -05:00
parent 1837745568
commit 5f667b4425
3 changed files with 24 additions and 3 deletions
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18
gtsam/sfm/TransferFactor.h
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@ -253,6 +253,24 @@ class EssentialTransferFactorK
TransferEdges<EM>(edge1, edge2),
triplets_(triplets) {}
/**
* @brief Constructor that accepts a vector of point triplets.
*
* @note Calibrations are assumed all same, using given key `keyK`.
*
* @param edge1 First EdgeKey specifying E1: (a, c) or (c, a)
* @param edge2 Second EdgeKey specifying E2: (b, c) or (c, b)
* @param keyK Calibration key for all views.
* @param triplets A vector of triplets containing (pa, pb, pc)
* @param model An optional SharedNoiseModel
*/
EssentialTransferFactorK(EdgeKey edge1, EdgeKey edge2, Key keyK,
const std::vector<Triplet>& triplets,
const SharedNoiseModel& model = nullptr)
: Base(model, edge1, edge2, keyK, keyK, keyK),
TransferEdges<EM>(edge1, edge2),
triplets_(triplets) {}
/// Transfer points pa and pb to view c and evaluate error.
Vector2 TransferError(const Matrix3& Eca, const K& Ka, const Point2& pa,
const Matrix3& Ecb, const K& Kb, const Point2& pb,

7
gtsam/sfm/sfm.i
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@ -98,8 +98,11 @@ virtual class EssentialTransferFactor : gtsam::NoiseModelFactor {
template <K = {gtsam::Cal3_S2, gtsam::Cal3f, gtsam::Cal3Bundler}>
virtual class EssentialTransferFactorK : gtsam::NoiseModelFactor {
EssentialTransferFactorK(gtsam::EdgeKey edge1, gtsam::EdgeKey edge2,
const std::vector<std::tuple<gtsam::Point2, gtsam::Point2, gtsam::Point2>>& triplets,
const gtsam::noiseModel::Base* model = nullptr);
const std::vector<std::tuple<gtsam::Point2, gtsam::Point2, gtsam::Point2>>& triplets,
const gtsam::noiseModel::Base* model = nullptr);
EssentialTransferFactorK(gtsam::EdgeKey edge1, gtsam::EdgeKey edge2, size_t keyK,
const std::vector<std::tuple<gtsam::Point2, gtsam::Point2, gtsam::Point2>>& triplets,
const gtsam::noiseModel::Base* model = nullptr);
};
#include <gtsam/sfm/ShonanFactor.h>

2
gtsam/sfm/tests/testTransferFactor.cpp
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@ -154,7 +154,7 @@ TEST(TransferFactor, MultipleTuples) {
}
//*************************************************************************
// Test for EssentialTransferFactor
// Test for EssentialTransferFactorK
TEST(EssentialTransferFactor, Jacobians) {
using namespace fixture;