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WIP: Resolve "New factorRelativePose2DWithExtrinsics"

Closed WIP: Resolve "New factorRelativePose2DWithExtrinsics"
237-factorodom2d-extrinsics-are-not-considered-when-computing-the-factor into devel
Closed Pep Martí Saumell requested to merge 237-factorodom2d-extrinsics-are-not-considered-when-computing-the-factor into devel

Closes #237 (closed)

Edited by Joan Vallvé Navarro

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