From f8d00f82f16e16110b5d0884b56550f24cd35c74 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Wed, 30 Oct 2024 16:06:56 -0700 Subject: [PATCH] Allow for global calibration --- gtsam/sfm/TransferFactor.h | 2 ++ 1 file changed, 2 insertions(+) diff --git a/gtsam/sfm/TransferFactor.h b/gtsam/sfm/TransferFactor.h index c8b249ddc..b73a71aa4 100644 --- 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)