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Draft: Resolve "SensorBase: extrinsic and intrinsic initialization and prior"

Closed Draft: Resolve "SensorBase: extrinsic and intrinsic initialization and prior"
381-sensorbase-extrinsic-and-intrinsic-initialization-and-prior into devel
Closed Joan Vallvé Navarro requested to merge 381-sensorbase-extrinsic-and-intrinsic-initialization-and-prior into devel