Measurement noise?

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Terry

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Jul 18, 2025, 1:30:13 PMJul 18

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Is there any way to incorporate uncertainty of measurements/values, other than making a new node in the graph and attaching a prior? For example, consider the Range expression:

Point2_ reference_(0);

Point2 measurement(1.9, 3.3);
Double_ range_(Range<Point2, Point2>(), reference_, measurement);

The way I would do this is:

graph.addPrior(key, measurement, noise);

But that will optimize all the measurement values as well, which I don't necessarily need. Maybe I'm approaching this the wrong way.