andelby

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

Covariance matrix

2

Is it possible get the covariance matrix of the pose?

Function optimizer.computeMarginals()

8

hi, the result of the optimizer.computeMarginals(), is the covariance matrix about the estimated pose? https://github.com/jingpang/LearnVIORB/blob/b9e73cefee88d7ab352508e1e11aab0990195e91/src/Optimizer.cc#L3745

Wrong gps path

2

The white path is the ground truth and the blue path is global fusion. The global fusion path is wrong. The problem is the conversion from the global map (latitude,...