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[feat] Add pose graph optimization with ext poses

Julia Sanchez requested to merge feat/PoseGraphWithExtPoses into master

  • This can be used with external INS (IMU + GNSS) or another SLAM trajectory

  • Here is a video to show the process and the result.

  • This MR contains a big refact about odom frame handling and trajectory rigid motion

Edited by Julia Sanchez

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