Feature Request to protect against IMU dropout.
Ideas:
- Provide a list of IMUs to SERPENT, and have SERPENT build a
CombinedIMUFactor for each. The ordering of these IMUs would indicate which should be preferred for motion distortion correction and as an initial guess for registration/stereo modules.
- Cope with all IMUs failing, by detecting when no IMU messages have arrived for a certain amount of time, and then adjusting the logic of motion prediction and backend optimisation accordingly.
Feature Request to protect against IMU dropout.
Ideas:
CombinedIMUFactorfor each. The ordering of these IMUs would indicate which should be preferred for motion distortion correction and as an initial guess for registration/stereo modules.