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Correct the Jacobian calculation of GravityFactor (#1692)

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* correct the Jacobian calculation of GravityFactor

* reimplement GravityFactor's analytical Jacobian

* adopt some minor changes from the GTSAM mainline

* use GTSAM's native AttitudeFactor instead of GravityFactor

* add missing header file and namespace prefix

* Removed GravityFactor. Fixed build with latest GTSAM version from source. Require c++17 when building with GTSAM>=4.3.0.

* Fixed cmake error when gtsam is not installed

---------

Co-authored-by: matlabbe <matlabbe@gmail.com>
This commit is contained in:
Borong Yuan
2026-04-27 06:33:05 +08:00
committed by GitHub
parent aa6d20775f
commit ebba7e4878
10 changed files with 36 additions and 393 deletions
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4
corelib/src/CMakeLists.txt
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@@ -804,10 +804,6 @@ IF(CUVSLAM_FOUND)
ENDIF(CUVSLAM_FOUND)
IF(GTSAM_FOUND)
SET(SRC_FILES
${SRC_FILES}
optimizer/gtsam/GravityFactor.cpp
)
SET(LIBRARIES
${LIBRARIES}
gtsam