Method getErrorModel

src/FactorGraphStructure.cpp:180–185

  }

  void FactorGraphStructure::getErrorModel(const FactorID &Factor, ErrorModelBase* &ErroModel) const
  {
    ceres::ResidualBlockId ID;
    this->getResidualID(Factor, ID);
    ErroModel = _Factors.at(ID).ErrorModel;
  }

  void FactorGraphStructure::getErrorInputSize(const FactorID &Factor, int &ResidualSize) const
  {