Rename factor

gtsam/sfm/TransferFactor.h

@@ -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,

gtsam/sfm/sfm.i

@@ -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 std::vector<std::tuple<gtsam::Point2, gtsam::Point2, gtsam::Point2>>& triplets,
-                          const gtsam::noiseModel::Base* model = nullptr);
+                           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>

gtsam/sfm/tests/testTransferFactor.cpp

@@ -154,7 +154,7 @@ TEST(TransferFactor, MultipleTuples) {
 }
 
 //*************************************************************************
-// Test for EssentialTransferFactor
+// Test for EssentialTransferFactorK
 TEST(EssentialTransferFactor, Jacobians) {
   using namespace fixture;