10 lines
286 B
Matlab
10 lines
286 B
Matlab
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%% Add factors for all measurements
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noise = noiseModel.Isotropic.Sigma(2,measurementNoiseSigma);
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for i=1:length(Z),
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for k=1:length(Z{i})
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j = J{i}{k};
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G.add(GenericProjectionFactorCal3_S2(
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Z{i}{k}, noise, symbol('x',i), symbol('p',j), K));
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end
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end
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