Maxime Ferrera

I think you still need to surround camera parameters with double quotes "..."

This follows the VI-ORB-SLAM paper. Marginalization is only applied when optimizing the current frame (which is linked to the previous keyframe through the preintegrated IMU measurement and constrained by the...

Hi @wds01060202 , The Huber values are taken from the chi2 table, using the number of degrees of freedom of the measurements and an inlier probability (here the 21.66 value...

Hi, the function computeMarginals() returns the Hessian matrix associated to the state vertex(0), you have to invert it to get the covariance.

1) Well, the values of the Hessian matrix come from this expression: J' W J, where J is the Jacobian of your optimization problem and W the information matrix (the...

Hi @arianna003 , yes you're right, my bad I read it too fast. In this case @Andrea485 , the uncertainty values of your covariance matrix indeed seems very high. The...

@Andrea485 , there is nothing wrong in the code you have used to compute the covariance matrix. But what are you doing? VI-Odometry? If so, is the Bundle Adjustment like...

Hi, The setMarginalize() option allows you to make use of the Schur Complement trick to speedup the Bundle Adjustment optimization. By separating the camera poses and the landmarks in your...

Hi @GopiRajuMatta , It is hard to give you any advice without seeing what your dataset looks like. Did you try subsampling your video so that you feed less images...

The crash is likely related to the use of the "-march=native" option in the CMakeLists.txt of ov2slam and ceres described in the readme.md. Make sure to to enable or disable...