Function mola::add_imu_gravity_factors

• Defined in File simplemap_georeference.h

Function Documentation

void mola::add_imu_gravity_factors(gtsam::NonlinearFactorGraph &fg, gtsam::Values &v, const IMUAccFrames &imuFrames, const std::set<size_t> &existingPoseKeys, const AddIMUGravityFactorParams &params)

Adds MeasuredGravityFactor factors to the graph. Creates new P(kf_index) variables for keyframes not already present in existingPoseKeys.