From 5f667b44255b0e6181b620833ba8097f596cd0b4 Mon Sep 17 00:00:00 2001
From: Frank Dellaert <dellaert@gmail.com>
Date: Tue, 5 Nov 2024 17:24:13 -0500
Subject: [PATCH] Rename factor

---
 gtsam/sfm/TransferFactor.h             | 18 ++++++++++++++++++
 gtsam/sfm/sfm.i                        |  7 +++++--
 gtsam/sfm/tests/testTransferFactor.cpp |  2 +-
 3 files changed, 24 insertions(+), 3 deletions(-)

diff --git a/gtsam/sfm/TransferFactor.h b/gtsam/sfm/TransferFactor.h
index b73a71aa4f..0338762be2 100644
--- a/gtsam/sfm/TransferFactor.h
+++ b/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,
diff --git a/gtsam/sfm/sfm.i b/gtsam/sfm/sfm.i
index a15b73ea19..24f24f1bb4 100644
--- a/gtsam/sfm/sfm.i
+++ b/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 gtsam::noiseModel::Base* model = nullptr);
+                           const std::vector<std::tuple<gtsam::Point2, gtsam::Point2, gtsam::Point2>>& triplets,
+                           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>
diff --git a/gtsam/sfm/tests/testTransferFactor.cpp b/gtsam/sfm/tests/testTransferFactor.cpp
index ced3d2ce7c..b34bdf8327 100644
--- a/gtsam/sfm/tests/testTransferFactor.cpp
+++ b/gtsam/sfm/tests/testTransferFactor.cpp
@@ -154,7 +154,7 @@ TEST(TransferFactor, MultipleTuples) {
 }
 
 //*************************************************************************
-// Test for EssentialTransferFactor
+// Test for EssentialTransferFactorK
 TEST(EssentialTransferFactor, Jacobians) {
   using namespace fixture;