Adding sensor fusion to existing SLAM

[antithing]

Hi,. and thank you for making this code available. i have an existing SLAM application that I am looking to add IMU data to, both to improve stability of the pose, and to predict transforms if the tracking is lost temporarily.

Would ROAMFREE be suitable here? I see there is an example that uses a camera and IMU, what are the inputs exactly?

I have access to:

3d map points
2d feature points
computed camera pose
IMU data (gyro / accel)

Is the example here a better place to start, or perhaps this:

https://github.com/DavideACucci/roamvo/blob/master/src/VisualOdometryNode.cpp

(I am not using ROS however)

Thank you!