hotfix: factors calling getFeature() in operator()

include/core/factor/factor_pose_2d.h

@@ -59,7 +59,7 @@ inline bool FactorPose2d::operator ()(const T* const _p, const T* const _o, T* _
 
     // residual
     Eigen::Map<Eigen::Matrix<T,3,1>> res(_residuals);
-    res = getFeature()->getMeasurementSquareRootInformationUpper() * er;
+    res = getMeasurementSquareRootInformationUpper() * er;
 
     ////////////////////////////////////////////////////////
     // print Jacobian. Uncomment this as you wish (remember to uncomment #include "ceres/jet.h" above):

include/core/factor/factor_pose_3d.h

@@ -62,7 +62,7 @@ inline bool FactorPose3d::operator ()(const T* const _p, const T* const _o, T* _
 
     // residual
     Eigen::Map<Eigen::Matrix<T, 6, 1>> res(_residuals);
-    res               = getFeature()->getMeasurementSquareRootInformationUpper() * er;
+    res               = getMeasurementSquareRootInformationUpper() * er;
 
     return true;
 }

include/core/factor/factor_quaternion_absolute.h

@@ -80,7 +80,7 @@ inline bool FactorQuaternionAbsolute::operator ()(const T* const _o, T* _residua
 
     // residual
     Eigen::Map<Eigen::Matrix<T, 3, 1>> res(_residuals);
-    res               = getFeature()->getMeasurementSquareRootInformationUpper() * er;
+    res = getMeasurementSquareRootInformationUpper() * er;
 
     return true;
 }