Allow for global calibration

2024-10-30 16:06:56 -07:00 · 2024-10-30 16:06:56 -07:00 · f8d00f82f1
parent 45fc039d07
commit f8d00f82f1
1 changed files with 2 additions and 0 deletions
--- a/gtsam/sfm/TransferFactor.h
+++ b/gtsam/sfm/TransferFactor.h
@ -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)