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IMU Preintegration module.
Supports gtsam-based imu preint by the pose generated by lidar relocalization module.
It is not recommended to use the imu preint result for localization initial guess on arm processors.
IMU预积分模块.
支持基于GTSAM优化器,根据激光重定位结果位置计算预积分估计.
在arm处理器上,不建议使用imu预积分结果作为定位模块的初始位置估计.