Covariance Matrix/Uncertainty

Auggie98 · June 29, 2023, 7:43am

Hi, I’m using the library to compute Visual Odometry. I couldn’t find a way to output the Covariance Matrix or the Uncertainties of the pose estimate.
I use ORB, Flann, findEssentialMat, decomposeEssentialMat.
Does anyone know how to do?

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Covariance Matrix/Uncertainty

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