fix CMakeList factor oversight

CMakeLists.txt

@@ -227,6 +227,7 @@ SET(HDRS_FACTOR
   include/core/factor/factor_relative_pose_2d.h
   include/core/factor/factor_relative_pose_2d_with_extrinsics.h
   include/core/factor/factor_relative_pose_3d.h
+  include/core/factor/factor_pose_3d_with_extrinsics.h
   )
 SET(HDRS_FEATURE
   include/core/feature/feature_base.h

test/gtest_sensor_pose.cpp

@@ -39,6 +39,8 @@ TEST(Pose, getParams)
 
     ASSERT_EQ(sen->getStdP(), intr->std_p); 
     ASSERT_EQ(sen->getStdO(), intr->std_o); 
+    // ASSERT_EQ(sen->getNoiseCov()(0,0), (Vector1d() << 4).finished());
+    // ASSERT_EQ(sen->getNoiseCov()(3,3), (Vector1d() << 9).finished());
 }
 
 TEST(Pose, create)
@@ -55,6 +57,8 @@ TEST(Pose, create)
 
     ASSERT_EQ(sen->getStdP(), intr->std_p); 
     ASSERT_EQ(sen->getStdO(), intr->std_o);
+    // ASSERT_EQ(sen->getNoiseCov()(0,0), (Vector1d() << 4).finished());
+    // ASSERT_EQ(sen->getNoiseCov()(3,3), (Vector1d() << 9).finished());
 }
 
 int main(int argc, char **argv)