andelby

1)thanks @ferreram for the reply, I tried writing this code: `g2o::SparseBlockMatrixXd spinv; optimizer.computeMarginals(spinv, optimizer.vertex(0)); Eigen::Matrix margCovInv = Eigen::Matrix::Zero(); margCovInv.topLeftCorner(6,6) = spinv.block(0, 0)->inverse(); cout

@ferreram what's wrong in my code, what can I do?