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Allow for global calibration

release/4.3a0
Frank Dellaert 2024-10-30 16:06:56 -07:00
parent 45fc039d07
commit f8d00f82f1
1 changed files with 2 additions and 0 deletions
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gtsam/sfm/TransferFactor.h
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@ -236,6 +236,8 @@ class EssentialTransferFactorK
/** /**
* @brief Constructor that accepts a vector of point triplets. * @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 edge1 First EdgeKey specifying E1: (a, c) or (c, a)
* @param edge2 Second EdgeKey specifying E2: (b, c) or (c, b) * @param edge2 Second EdgeKey specifying E2: (b, c) or (c, b)
* @param triplets A vector of triplets containing (pa, pb, pc) * @param triplets A vector of triplets containing (pa, pb, pc)