Merge Aux/KeyFrames into Estimated Frames
There are 3 types of frames: regular, aux and key. The last 2 are estimated by the solver.
Auxiliary Frames were though for the problem of visual(-inertial) problem in which the recent past has to be populated with a lot of (estimated) frames in the problem. But after some time passed, only keep some (key) frames in the problem. Most of the machinery related with this frames is not implemented. Auxiliary frames are not used nowhere.
Before creating auxiliary frames (and currently), key-frame is used as equivalent to estimated frame and non-key as non-estimated.
Since !349 (merged) in wolf there is the TreeManager
class. Now, only the sliding window is implemented. Sparsification algorithms should be able to fit in this TreeManager
The differentiation between auxiliary and key frames is mostly related with the management of the graph (tree). The solver, the problem, doesn't care about this I think.
I propose to remove all the (not working) code related with auxiliary frames. And change the meaning of key
(so its name) to estimated
.
@jsola this mainly involves you, what is your opinion?