Open AllenIsaacJose opened 10 months ago
If I change the iterative mode from every iteration to once every 6 iterations(I had 5 objects), then the error will appear away as it has enough observations. But the s.estimates = s.optimiser.calculateEstimate()
step after that will create estimates for the dual quadrics and camera pose with very high error and won't give any proper results after that.
The error occurs for every iteration in the iterative method using ISAM2()