Function map_optimization::addInertialTermsForEdges

Function Documentation

int map_optimization::addInertialTermsForEdges(const bool fix_gyro_bias, const bool fix_accel_bias, const bool fix_velocity, const double gravity_magnitude, const vi_map::ImuSigmas &imu_sigmas, const std::shared_ptr<ceres::LocalParameterization> &pose_parameterization, const pose_graph::EdgeIdList &edges, OptimizationProblem *problem)