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initialise ceres map, backend not stable, initialisation, feedback loop?,…

- - - - new state
        
        add prior and error
        
        manage extrinsics
        
        add a landmark
        
        drop and marginalize kfs
        
        drop and marginalize poses
        
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        keep n newest imu frames
        
        distinguish what we marginalize
        
        marginalize oldest kf or imu frame which is not a kf
        
        add to map
        
        create
        
        update landmarks
        
        import params
        
        add to map
        
        import parameters
        
        pose
        
        imu
      - get previous states
      - propagate
    - - if (0,0,1)x(imu)~0 bad init
- - - - refine.extrinsics
        
        Estimator->addCameraBundle
        
        CeresBackendInterface->
        set_max_iteration_time
        
        start parallel threads
        
        optimization loop
        
        runlc
        
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        imu params
        
        Estimator->AddImu
        
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- - - - add new frames
        
        if kTracking
        return UpdateResult::kDefault
        
        BundleAdjustment
        
        MotionDetector
        
        add landmarks to backend
        
        update landmarks in ceres
        
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        exit
        
        If stage_ is set manually fails with error -6
        
        There are two implementations of processFrameBundle -- FrameHandlerMono:: and FtameHandlerArray::. The first is working well internally, but can't change stage_ to kTracking globally.
- - - - DepthFilter::DepthFilter()
        
        initialization_utils::makeInitializer()
        
        AbstractInitialization::AbstractInitialization()
        
        CeresBackendInterface::CeresBackendInterface()
        
        ros.spin()
- - - - FrameHandlerBase::addFrameBundle()
        
        FrameHandlerMono::resetAll()
        
        AbstractInitialization::reset()
        
        FrameHandlerBase::setInitialPose()
        
        CeresBackendInterface::loadMapFromBundleAdjustment()
        
        Estimator::addStates()
        
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        Initialization loop