Update Map.cpp

izhengfan · Jun 4, 2024 · 86cc2fa · 86cc2fa · izhengfan · Jun 4, 2024
1 parent fab42cd
commit 86cc2fa
Showing 1 changed file with 2 additions and 1 deletion.
diff --git a/src/Map.cpp b/src/Map.cpp
@@ -948,7 +948,8 @@ void Map::loadLocalGraph(SlamOptimizer &optimizer)
  int id1 = it - mLocalGraphKFs.begin();
 
  {
- Eigen::Map<Eigen::Matrix3d, RowMajor> info(meas.cov);
+ Eigen::Map<Eigen::Matrix3d, RowMajor> meas_cov(meas.cov);
+ Eigen::Matrix3d info = meas_cov.inverse();
  addEdgeSE2(optimizer, Vector3D(meas.meas), i, id1, info);
  }