Camera Pose with Covariance

[laptopc700]

Hello Eveybody and Mathieu,
How to get the covariance matrix associated with the camera's pose? because my understand that it is used for the graph optimisation.
Thanks.

[matlabbe]

Hi,

Are you on ROS? If so, it is in nav_msgs/Odometry topic.

Covariance is used for the graph's links, not the poses. When exporting the graph in TORO or g2o format (File->Export poses...), you can see the information matrix used (derived from odometry covariance).

cheers,
Mathieu

[laptopc700]

Thanks you, Mathieu.