How to calculate covariance for 3d map points in BA

[kylecheng1986]

Hi,

I was very interested in covariance recovery in BA. I take look at the code and find out g2o can only calculate pose covariance in BA, so I wonder how to modify the code to support calculating covariance for 3d map points. Thank you very much.

[lokeshluckybisht]

@kylecheng1986 Hi,

I request you to kindly guide me in finding pose covariance.
Thanks in advance

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