Resolve "Processor motion model"

Closes #407 (closed)

include/core/factor/factor_relative_pose_3d.h

@@ -93,6 +93,8 @@ inline FactorRelativePose3d::FactorRelativePose3d(const FeatureBasePtr& _ftr_cur
                                                             _frame_past_ptr->getP(), // past frame P
                                                             _frame_past_ptr->getO()) // past frame Q
 {
+    MatrixSizeCheck<7,1>::check(_ftr_current_ptr->getMeasurement());
+    MatrixSizeCheck<6,6>::check(_ftr_current_ptr->getMeasurementSquareRootInformationUpper());
 }
 
 template<typename T>