Skip to content
Snippets Groups Projects

Resolve "Merge Aux/KeyFrames into Estimated Frames"

Merged Joan Solà Ortega requested to merge 313-merge-aux-keyframes-into-estimated-frames into devel
Files
50
@@ -233,12 +233,11 @@ int main()
WOLF_TRACE("======== COVARIANCES OF SOLVED PROBLEM =======")
ceres->computeCovariances(SolverManager::CovarianceBlocksToBeComputed::ALL_MARGINALS);
for (auto& kf : *problem->getTrajectory())
if (kf->isKey())
{
Eigen::MatrixXd cov;
kf->getCovariance(cov);
WOLF_TRACE("KF", kf->id(), "_cov = \n", cov);
}
{
Eigen::MatrixXd cov;
kf->getCovariance(cov);
WOLF_TRACE("KF", kf->id(), "_cov = \n", cov);
}
for (auto& lmk : problem->getMap()->getLandmarkList())
{
Eigen::MatrixXd cov;
Loading