Lidar Map to Pose Interpolation#80

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g-ferrer wants to merge 14 commits intomasterfrom

lidarinertial_se3tc

Commits on Jul 29, 2025

Add factorLidarMap2PoseInterpolation
AhmedBaza1
committed

Commits on Jul 31, 2025

node Gravity, with normalization update
g-ferrer
committed

Commits on Aug 4, 2025

linking problem, now using T_SE3 method from Se3tc
g-ferrer
committed

Commits on Sep 5, 2025

bug fixing and testing + multiple senarios for the factor
AhmedBaza1
committed

Commits on Sep 7, 2025

Fix testing example build, add offset (imu_lidar) to lidar inertial factors, correct convention of residuals
AhmedBaza1
committed

Commits on Sep 13, 2025

Commits on Sep 14, 2025

adding new method for proper interpolation by the inverse left Jacobian. On test (toy example) performs better than first order approx of interpolating vias point
g-ferrer
committed

Commits on Nov 10, 2025

using local eigen
AhmedBaza1
committed

Commits on Jan 19, 2026

Merge branch 'lidarinertial_se3tc_revision' into lidarinertial_se3tc
g-ferrer
committed

Commits on Jan 20, 2026

Commits on Jan 23, 2026

fixing nodePose3dVelTc, updating node order in factor, fixing order in twist matching
AhmedBaza1
committed