Adapted to new AbsoluteFactor API, strange error on matrix size

demos/mcapi_povcdl_estimation.cpp

@@ -441,7 +441,7 @@ int main (int argc, char **argv) {
     // Prior velocity factor
     CaptureBasePtr capV0 = CaptureBase::emplace<CaptureBase>(KF1, "Vel0", t0);
     FeatureBasePtr featV0 = FeatureBase::emplace<FeatureBase>(capV0, "Vel0", x_origin.segment<3>(7), P_origin.block<3, 3>(6, 6));
-    FactorBasePtr facV0 = FactorBase::emplace<FactorBlockAbsolute>(featV0, KF1->getV(), nullptr, false);
+    FactorBasePtr facV0 = FactorBase::emplace<FactorBlockAbsolute>(featV0, featV0, KF1->getV(), nullptr, false);
 
     // Special trick to make things work in the IMU + IKin + FTPreint case
     // 0. Call keyFrameCallback of processorIKin so that its kf_buffer contains the first KF0
@@ -467,14 +467,14 @@ int main (int argc, char **argv) {
     Matrix6d Q_bi = 1e-8 * Matrix6d::Identity();
     CaptureBasePtr capbi0 = CaptureBase::emplace<CaptureBase>(KF1, "bi0", t0);
     FeatureBasePtr featbi0 = FeatureBase::emplace<FeatureBase>(capbi0, "bi0", Vector6d::Zero(), Q_bi);
-    FactorBasePtr facbi0 = FactorBase::emplace<FactorBlockAbsolute>(featbi0, KF1->getCaptureOf(sen_imu)->getSensorIntrinsic(), nullptr, false);   
+    FactorBasePtr facbi0 = FactorBase::emplace<FactorBlockAbsolute>(featbi0, featbi0, KF1->getCaptureOf(sen_imu)->getSensorIntrinsic(), nullptr, false);   
 
     // Add loose absolute factor on initial bp bias since dynamical trajectories 
     // able to excite the system enough to make COM and bias_p observable hard to generate in a simple gtest
     Matrix3d Q_bp = pow(std_abs_biasp, 2)* Matrix3d::Identity();
     CaptureBasePtr cap_bp0 = CaptureBase::emplace<CaptureBase>(KF1, "bp0", t0);
     FeatureBasePtr feat_bp0 = FeatureBase::emplace<FeatureBase>(cap_bp0, "bp0", bias_pbc_prior, Q_bp);
-    FactorBasePtr fac_bp0 = FactorBase::emplace<FactorBlockAbsolute>(feat_bp0, KF1->getCaptureOf(sen_ikin)->getSensorIntrinsic(), nullptr, false);   
+    FactorBasePtr fac_bp0 = FactorBase::emplace<FactorBlockAbsolute>(feat_bp0, feat_bp0, KF1->getCaptureOf(sen_ikin)->getSensorIntrinsic(), nullptr, false);   
 
 
     ///////////////////////////////////////////