Merge branch 'devel' into 244-yaml-params-with-spaces-not-underscores

test/gtest_factor_diff_drive.cpp

@@ -479,10 +479,9 @@ TEST(FactorDiffDrive, preintegrate_and_solve_sensor_intrinsics_gt)
     auto F2 = problem->getLastKeyFrame();
 
 
-    // Fix boundaries and unfix S ;
+    // Fix boundaries
     F0->fix();
     F2->fix();
-    sensor->unfixIntrinsics();
 
     // Perturb S
     Vector3s calib_pert = calib_gt + Vector3s::Random()*0.2;
@@ -615,10 +614,9 @@ TEST(FactorDiffDrive, preintegrate_and_solve_sensor_intrinsics)
 
     F2->setState(x2); // Impose known final state regardless of integrated value.
 
-    // Fix boundaries and unfix S ;
+    // Fix boundaries
     F0->fix();
     F2->fix();
-    sensor->unfixIntrinsics();
 
 
     WOLF_TRACE("\n  ========== SOLVE =========");