IMUPreintegrator class now handles only preintegrated measurements. This is done such that the factors can be created separately using these measurements, which becomes more relevant in a multi-threaded scenario, where the book-keeping of multiple factors from arbitrary measurement types need to be maintained for a single factor graph.
ArucoWrapper class is added to provide gtsam wrapped measurements of ArucoDetector class.
Sample datasets used for test cases has been moved into a separate TestData component to avoid duplication of datasets across multiple components
Move TimeStampedImg struct to a separate header file
gtsamwrapped measurements ofArucoDetectorclass.TestDatacomponent to avoid duplication of datasets across multiple componentsTimeStampedImgstruct to a separate header file