After check parallax, we have decided whether to remove the last keyframe or second new keyframe.
Case 1: marginalization_flag == MARGIN_OLD
Step 1: 0,1,2…WINDOW_SIZE——>1,2…WINDOW_SIZE,0
for (int i = 0; i < WINDOW_SIZE; i++)
{
Headers[i] = Headers[i + 1];
Rs[i].swap(Rs[i + 1]);
Ps[i].swap(Ps[i + 1]);
}Step 2: 0,1,2…WINDOW_SIZE>1,2…WINDOW_SIZE,WINDOW_SIZE
Headers[WINDOW_SIZE] = Headers[WINDOW_SIZE - 1];
Ps[WINDOW_SIZE] = Ps[WINDOW_SIZE - 1];
Rs[WINDOW_SIZE] = Rs[WINDOW_SIZE - 1];Remove the very old frame from all_image_frame
slideWindowOld()
- f_manager.removeBackShiftDepth()
- f_manager.removeBack()