When marginalize an old frame, the landmark witch was seen at this old frame first will be marginalized too:
ResidualBlockInfo *residual_block_info = new ResidualBlockInfo(f_td, loss_function, vector<double *>{para_Pose[imu_i], para_Pose[imu_j], para_Ex_Pose[0], para_Feature[feature_index], para_Td[0]}, vector<int>{0, 3});
Howerver, in the function slideWindowOld()，this landmark will not be deleted，it will shift its depth to next frame. Why? In general，when a state is margnalized，it will be deleted from the optimization variable，is that right?
When marginalize an old frame, the landmark witch was seen at this old frame first will be marginalized too:
ResidualBlockInfo *residual_block_info = new ResidualBlockInfo(f_td, loss_function, vector<double *>{para_Pose[imu_i], para_Pose[imu_j], para_Ex_Pose[0], para_Feature[feature_index], para_Td[0]}, vector<int>{0, 3});Howerver, in the function slideWindowOld()，this landmark will not be deleted，it will shift its depth to next frame. Why? In general，when a state is margnalized，it will be deleted from the optimization variable，is that right?