add imu sub

svo/.idea/.gitignore

@@ -0,0 +1,8 @@
+# Default ignored files
+/shelf/
+/workspace.xml
+# Datasource local storage ignored files
+/dataSources/
+/dataSources.local.xml
+# Editor-based HTTP Client requests
+/httpRequests/

svo/.idea/misc.xml

@@ -0,0 +1,4 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="CMakeWorkspace" PROJECT_DIR="$PROJECT_DIR$" />
+</project>

svo/.idea/modules.xml

@@ -0,0 +1,8 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="ProjectModuleManager">
+    <modules>
+      <module fileurl="file://$PROJECT_DIR$/.idea/svo.iml" filepath="$PROJECT_DIR$/.idea/svo.iml" />
+    </modules>
+  </component>
+</project>

svo/.idea/svo.iml

@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<module classpath="CMake" type="CPP_MODULE" version="4" />

svo/.idea/vcs.xml

@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="VcsDirectoryMappings">
+    <mapping directory="$PROJECT_DIR$/.." vcs="Git" />
+  </component>
+</project>

svo/src/frame_handler_mono.cpp

@@ -156,7 +156,7 @@ FrameHandlerBase::UpdateResult FrameHandlerMono::processFrame()
     return RESULT_FAILURE;
   }
 
-  // pose optimization
+  // pose optimization subject to change for adding IMU
   SVO_START_TIMER("pose_optimizer");
   size_t sfba_n_edges_final;
   double sfba_thresh, sfba_error_init, sfba_error_final;