How to modify (from code) the information matrix (covariance matrix) of Visual Measurement Residual

[weisongwen]

Hi @shaojie @shaozu , thanks for sharing the great work. Thanks a lot. I am reading your work and testing your code using the real data collected from the road. We find that sometimes the uncertainty (corresponding to the information matrix in factor graph) of Visual Measurement Residual should be larger in challenging environments with numerous dynamic objects (vehicles).

If we already know the uncertainty of the Visual Measurement Residual. How can we modify the information in the vins-fusion code or how it is estimated?

Thanks again for sharing your great work,

Best, Weisong,

This is Fixed, many thanks,