git clone git@github.com:UMich-BipedLab/cpi.git
cd cpi/
git submodule update --init --recursive
cd catkin_ws/
catkin_make
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Continuous Preintegration for Graph-based Visual-Inertial Navigation
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UMich-BipedLab/cpi
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Continuous Preintegration for Graph-based Visual-Inertial Navigation
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