koide3

OK, I think you need to slightly change the code in initial_state_estimation.cpp. Here is [the line](https://github.com/koide3/glim/blob/c764baa8b136cf4c8e57ce9a3651f6bd05873211/src/glim/odometry/initial_state_estimation.cpp#L68) that sets the initial sensor pose.

- We recently adopted the recent version of GTSAM 4.3a0 that introduced some API changes including switching from `std::shared_ptr` to `boost::shared_ptr`. gtsam_points *v.1.2.0* in the latest main branch is fully...

The initialization process estimates the gravity direction (upward direction) and then adjusts the initial pose so that the upward direction is aligned with Z-axis.

It didn't reproduce in my environment, but I guess there is an issue in the handling of isolated points in gtsam_points. I'll check the implementation to fix it.

I found and fixed a bug in the mincut implementation that causes segfaults when the size of the selected point cloud is too small: https://github.com/koide3/gtsam_points/pull/79

Because I only provide self-built binaries on our own PPA, I'm not sure about a good way to build Debian packages. In my case, I manually re-write configurations to support...

Here you can find the scripts for generating deb files: https://github.com/koide3/ppa/tree/main/packages

Ah, the subsequent computation imu_rate_trajectory should have forgot using the optimized poses. I'll fix it later. Thanks!