document about StateHelper class ?

[chennuo0125-HIT]

thanks for this greate work, but I cant understand the implementation about class StateHelper, could provide document ?

[goldbattle]

Hi. The documentation is provided here:

• https://docs.openvins.com/classov__msckf_1_1StateHelper.html
• https://docs.openvins.com/dev-index.html

If you wish the understand the underling implementation I recommend reading the code directly as there are sufficient comments. Otherwise just looking at the function documentation is likely sufficient.