Create factor graph, and generate node IDs one factorPoseSE2AndPointXY factor. Then create the factorPoseSE2AndPointXY factor and add the factor to the factor graph.
When generating portable C code with a C++ compiler, you must specify hierarchical
packing with non-minimal headers. For more information on packaging options, see the
packNGo (MATLAB Coder) function.
You can now get the node type for nodes connected by the similarity transformation
factor SIM(3) object factorTwoPoseSIM3.
The nodeType function can return the new node types
"POSE_SE3_SCALE" representing pose scale and
"TRANSFORM_SE3" representing sensor transform.
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