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ZuoJiaxing / Learn-ORB-VIO-Stereo-Mono

Stereo and Mono VIO, Visual Inertial, ORB-SLAM2
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Function optimizer.computeMarginals() #15

Open andelby opened 5 years ago

andelby commented 5 years ago

hi, the result of the optimizer.computeMarginals(), is the covariance matrix about the estimated pose? https://github.com/ZuoJiaxing/Learn-ORB-VIO-Stereo-Mono/blob/32ab8d136ea4ef254eef0505424b83c89018b4b8/src/Optimizer.cc#L2603