[skip ci] allow non-default extrinsic sizes

src/sensor/sensor_base.cpp

@@ -169,11 +169,6 @@ void SensorBase::loadPriors(const Priors& _priors,
                                      toString(prior.getState()) +
                                      " and should be of size: " + toString(state_spec.size) +
                                      "\nDoc:\n" + state_spec.doc);
-        // additional size checks for P, O, V
-        if ((key == 'P' or key == 'V') and prior.getState().size() != _dim)
-            throw std::runtime_error("Prior state for P or V has wrong size: " + toString(prior.getState().size()) + " in " + (_dim == 2 ? "2D" : "3D"));
-        if (key == '0' and prior.getState().size() != (_dim == 2 ? 1 : 4))
-            throw std::runtime_error("Prior state for O has wrong size: " + toString(prior.getState().size()) + " in " + (_dim == 2 ? "2D" : "3D"));
 
         // --- CREATE STATE BLOCK ---
         auto sb = FactoryStateBlock::create(prior.getType(), prior.getState(), prior.isFixed());