Allow for global calibration
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				|  | @ -236,6 +236,8 @@ class EssentialTransferFactorK | |||
|   /**
 | ||||
|    * @brief Constructor that accepts a vector of point triplets. | ||||
|    * | ||||
|    * @note Calibrations are assumed all different, keys are derived from edges. | ||||
|    * | ||||
|    * @param edge1 First EdgeKey specifying E1: (a, c) or (c, a) | ||||
|    * @param edge2 Second EdgeKey specifying E2: (b, c) or (c, b) | ||||
|    * @param triplets A vector of triplets containing (pa, pb, pc) | ||||
|  |  | |||
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