Variable names now make more sense
added the new calibration state with null Jacobian
added Jacobians for the new state. Converges with VO<->gravity rotations in the order of 10 degrees. However, is not able to converge when swapping axes
started working on the VO data with gravity calibration
Removed the double inverses by in the CB pose by changing the translation vector to the other frame of reference.
Confirmed that what I input as first guess is indeed what comes out of the optimization.
Fixed starting indices for iteration. Playing around with VI initial calib.
Merge branch 'gravityCal' of github.com:nvaligi/wip-gtsam into gravityCal