SmartProjectionFactor ignores body_P_sensor

[Former user]

SmartProjectionFactor inherits from GenericProjectionFactor, which has a member called "body_P_sensor", the transformation of the camera in the body frame. This is necessary for systems with multiple cameras. SmartProjectionFactor confusingly ignores body_P_sensor, assuming that its the identity. My plan was to create one SmartProjectionFactor for each camera/landmark pair in my multi-camera system, all of which constrain the body pose.

[Frank Dellaert]

Fixed on GitHub