Will compute the system for our sparse features and update the filter.
This class is responsible for computing the entire linear system for all features that are going to be used in an update. This follows the original MSCKF, where we first triangulate features, we then nullspace project the feature Jacobian. After this we compress all the measurements to have an efficient update and update the state.
UpdaterMSCKF:: UpdaterMSCKF(UpdaterOptions& options,
Default constructor for our MSCKF updater.
|options||Updater options (include measurement noise value)|
|feat_init_options||Feature initializer options|
Our updater has a feature initializer which we use to initialize features as needed. Also the options allow for one to tune the different parameters for update.