WIP: Resolve "New factorRelativePose2DWithExtrinsics"

Closes #237 (closed)

test/gtest_odom_2D.cpp

@@ -113,6 +113,7 @@ TEST(Odom2D, FactorFix_and_FactorOdom2D)
     // GND
     // `absolute` is made with FactorFix
     // `motion`   is made with FactorOdom2D
+    // Odom sensor extrinsics: Tr_s = identity
 
     std::cout << std::setprecision(4);
 
@@ -126,20 +127,22 @@ TEST(Odom2D, FactorFix_and_FactorOdom2D)
     ProblemPtr          Pr = Problem::create("PO", 2);
     CeresManager        ceres_manager(Pr);
 
+    SensorBasePtr sensor_odom2d = Pr->installSensor("ODOM 2D", "odom", Vector3s(0,0,0));
+
     // KF0 and absolute prior
     FrameBasePtr        F0 = Pr->setPrior(x0, P0,t0, dt/2);
 
     // KF1 and motion from KF0
     t += dt;
     FrameBasePtr        F1 = Pr->emplaceFrame(KEY, Vector3s::Zero(), t);
-    auto C1 = CaptureBase::emplace<CaptureBase>(F1, "ODOM 2D", t);
+    auto C1 = CaptureBase::emplace<CaptureBase>(F1, "ODOM 2D", t, sensor_odom2d);
     auto f1 = FeatureBase::emplace<FeatureBase>(C1, "ODOM 2D", delta, delta_cov);
     auto c1 = FactorBase::emplace<FactorOdom2D>(f1, f1, F0, nullptr);
 
     // KF2 and motion from KF1
     t += dt;
     FrameBasePtr        F2 = Pr->emplaceFrame(KEY, Vector3s::Zero(), t);
-    auto C2 = CaptureBase::emplace<CaptureBase>(F2, "ODOM 2D", t);
+    auto C2 = CaptureBase::emplace<CaptureBase>(F2, "ODOM 2D", t, sensor_odom2d);
     auto f2 = FeatureBase::emplace<FeatureBase>(C2, "ODOM 2D", delta, delta_cov);
     auto c2 = FactorBase::emplace<FactorOdom2D>(f2, f2, F1, nullptr);
 
@@ -486,4 +489,3 @@ int main(int argc, char **argv)
   testing::InitGoogleTest(&argc, argv);
   return RUN_ALL_TESTS();
 }
-