Is only preintegrating one IMU measurement equivalent to turning "off" preintegration

[t.mike....@gmail.com]

Hey all,

I have a traditional setup with a high rate accelerometer and gyroscope coupled with a low rate GPS and I'm looking to estimate its pose trajectory. I've used the preintegrating factors (ImuFactor/CombinedImuFactor) before. 

My question is this, what if I wanted to *not* do preintegration? i.e., I wanted to estimate the pose at the full high frequency rate. How is it that we can turn *off* preintegration? Is it functionally equivalent to only "preintegrating" a single IMU measurement between subsequent keyframes?

Thanks!

Tim