The application works on landscape images (640x480), but the Px/Py values seem to be swapped for all phones in global_param.cpp, e.g Px=239, Py=309 (iPhone 6s). Should not be these Px=309, Py=239 instead?

useful for analysis, for example printStats(getMsgsUp(tree, :x10)) -- which does not rely on plotting functions,

addFactor!(fg, [:x1;:l1], ...) vs addFactor!(fg, [:l1;:x1], ...)

Here some possible enhancement related to Manual.tex:

• No documentation for the Continuous-Time Trajectories
• I'm missing some code example through the module descriptions instead of only at the end. This could help to link the math with the C++ API.
• "[we are