The current code in VINS-mono has many global variables being used in different function etc etc. WIth the inclusion of multiple threads, tracing everything in a large refactor might be difficult.
To better understand the intricacies, while making refactoring easier, many minor isolated change will be made to the code. However, change to the overall functionality and operation, such as the use of global variables etc etc will not be undertaken.
Untill we have a decent grasp of the code, and also when we have tools to evaluate and compare performance (error of results, not compute)
The current code in VINS-mono has many global variables being used in different function etc etc. WIth the inclusion of multiple threads, tracing everything in a large refactor might be difficult.
To better understand the intricacies, while making refactoring easier, many minor isolated change will be made to the code. However, change to the overall functionality and operation, such as the use of global variables etc etc will not be undertaken.
Untill we have a decent grasp of the code, and also when we have tools to evaluate and compare performance (error of results, not compute)