fixing csm on multiple features test

[dehann]

EDIT: better to consolidate this effort with:

• implement equivalent of solvePnP SensorFeatureTracking.jl#29

[codecov-io]

Codecov Report

Merging #191 into master will decrease coverage by 3.24%.
The diff coverage is 57.14%.

@@            Coverage Diff             @@
##           master     #191      +/-   ##
==========================================
- Coverage   23.75%   20.51%   -3.25%     
==========================================
  Files          30       36       +6     
  Lines        1486     1711     +225     
==========================================
- Hits          353      351       -2     
- Misses       1133     1360     +227     

Impacted Files	Coverage Δ
src/RoME.jl	100.00% <ø> (ø)
src/factors/DynPoint2D.jl	50.00% <0.00%> (+1.02%)	⬆️
src/factors/Pose2D.jl	63.63% <ø> (+5.57%)	⬆️
src/factors/Bearing2D.jl	30.00% <50.00%> (-5.30%)	⬇️
src/factors/BearingRange2D.jl	51.72% <100.00%> (-30.63%)	⬇️
src/factors/MultipleFeaturesConstraint.jl	0.00% <0.00%> (-85.97%)	⬇️
src/factors/Point2D.jl	53.70% <0.00%> (-9.34%)	⬇️
src/factors/Range2D.jl	29.62% <0.00%> (-5.16%)	⬇️
... and 19 more

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[dehann]

@Affie here is a fun test that used to work way back but broke with CSM at some point. This might already work again, and probably a good stress test while CSM is being updated -- don't let it distract if it's too far out. been commented out for about a year. It's an important test to bring back in the long run though.

[dehann]

ah wait this still needs the multihypo= keyword update. Don't add it just yet. good to look at for reference in the mean time.