Comments (2)
Yes, we do this since if we initialize a feature in the oldest frame, right away we need to perform an anchor change since that old clone will be marginalized. We do loop through and find which camera has the most measurements, and use that frame to anchor the feature in.
from open_vins.
Yes, we do this since if we initialize a feature in the oldest frame, right away we need to perform an anchor change since that old clone will be marginalized. We do loop through and find which camera has the most measurements, and use that frame to anchor the feature in.
thank you for your reply
from open_vins.
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