Why treat ANCHORED_INVERSE_DEPTH_SINGLE as ANCHORED_MSCKF_INVERSE_DEPTH when update features?

[WZG3661]

in UpdateMSCKF.cpp

open_vins/ov_msckf/src/update/UpdaterMSCKF.cpp

Lines 179 to 183 in 17b73cf

	// If we are using single inverse depth, then it is equivalent to using the msckf inverse depth
	feat.feat_representation = state->_options.feat_rep_msckf;
	if (state->_options.feat_rep_msckf == LandmarkRepresentation::Representation::ANCHORED_INVERSE_DEPTH_SINGLE) {
	feat.feat_representation = LandmarkRepresentation::Representation::ANCHORED_MSCKF_INVERSE_DEPTH;
	}

and In UpdateSLAM.cpp

open_vins/ov_msckf/src/update/UpdaterSLAM.cpp

Lines 159 to 165 in 17b73cf

	// If we are using single inverse depth, then it is equivalent to using the msckf inverse depth
	auto feat_rep =
	((int)feat.featid < state->_options.max_aruco_features) ? state->_options.feat_rep_aruco : state->_options.feat_rep_slam;
	feat.feat_representation = feat_rep;
	if (feat_rep == LandmarkRepresentation::Representation::ANCHORED_INVERSE_DEPTH_SINGLE) {
	feat.feat_representation = LandmarkRepresentation::Representation::ANCHORED_MSCKF_INVERSE_DEPTH;
	}

open_vins/ov_msckf/src/update/UpdaterSLAM.cpp

Lines 338 to 342 in 17b73cf

	// If we are using single inverse depth, then it is equivalent to using the msckf inverse depth
	feat.feat_representation = landmark->_feat_representation;
	if (landmark->_feat_representation == LandmarkRepresentation::Representation::ANCHORED_INVERSE_DEPTH_SINGLE) {
	feat.feat_representation = LandmarkRepresentation::Representation::ANCHORED_MSCKF_INVERSE_DEPTH;
	}