Add IMUPreintegrator advanceable and make ImageProcessor as advanceable object

ami-iit / kindyn-vio

Development on hold.

BSD 3-Clause "New" or "Revised" License

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Closed prashanthr05 closed 3 years ago

prashanthr05 commented 3 years ago

This PR will allow multi-threaded runners for IMU preintegration and image processing. For this purpose,

ImageProcessor is converted into a BipedalLocomotion::System::Advanceable type
Adds IMUPreintegrator that wraps GTSAM's CombinedIMUFactor preIntegration into an BipedalLocomotion::System::Advanceable type