Compute pose covariance in BA

[HeatherHu]

I want to get the covariance corresponding to the camera pose during projection optimization. I did in following steps:
(1) add the current camera pose as a vertex
setId(0) ; setEstimate(initial value); setMarginalize(false); setFixed(false);
(2) add points
setId(i+1) ; setEstimate(initial value); setMarginalize(true); setFixed(true);
(3) add edge:
setMeasurements(position in image); setInformation(Identity); setRobustKernel(Huber);setDelta(sqrt(5.991)); set camera params(fx,fy,cx,cy)
(4) Get covariance after optimization by using the following code:
g2o::SparseBlockMatrixXd spinv;
optimizer.computeMarginals(spinv,optimizer.vertex(0));
The pose covariance is spinv.block(0,0)->eval().
I did not understand marginalize very well. I am not sure that setMarginalize as true affect the result of optimization or not.
I just worried I did something wrong. Is anyone familiar with this? Could you have a look to see if it is a problem anywhere?
Thanks very much for your help.

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