pass in expected Rot3 and parameter p

timing/timeFrobeniusFactor.cpp

@@ -74,7 +74,7 @@ int main(int argc, char* argv[]) {
     const auto& Tij = factor->measured();
     const auto& model = factor->noiseModel();
     graph.emplace_shared<FrobeniusWormholeFactor>(
-        keys[0], keys[1], SO3(Tij.rotation().matrix()), model);
+        keys[0], keys[1], Rot3(Tij.rotation().matrix()), 4, model);
   }
 
   std::mt19937 rng(42);