Sensor-agnostic estimation engine shared by glass-lio
and glass-vio: SE(3) Gauss-Newton on a manifold, IMU preintegration, marginalization, the
nav state + IMU factor, and SO(3) Jacobians. Pure CMake, no ROS — the one sensor-facing
class (ImuInit) speaks a plain ImuSample struct, not sensor_msgs, so callers convert
at their own boundary.
Almost entirely header-only; only preintegration and IMU init carry a .cpp. Vendors
Sophus for the Lie group types (own license, see
include/sophus/LICENSE).
Consumed as a git submodule by its front ends, or built standalone:
cmake -S . -B build && cmake --build build && ctest --test-dir buildFor the reasoning behind the solver and the estimation stages built on top of it, see glass-lio's doc/gauss-newton.md and doc/7-tight-coupling.md — this repo holds the engine; the write-ups live with the LIO front end that motivated them.
MIT — see LICENSE.