Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Covariance matrices diagonal set to standard deviation parameters? #5

Open
diasdm opened this issue May 2, 2018 · 0 comments
Open

Comments

@diasdm
Copy link

diasdm commented May 2, 2018

Hello,

I was reviewing your code to see how you set the covariance matrices of the different sensor values and I found something which I found weird. Since there wasn't an issue on the subject...

I have learned that usually we only set the diagonal values, but what I found weird was the value you use to set the covariance diagonal values or the naming of the parameters.

You do it like this:
imu.orientation_covariance[0] = orientation_stddev;
But shouldn't it be like this?
imu.orientation_covariance[0] = orientation_stddev * orientation_stddev;
Or this?
imu.orientation_covariance[0] = orientation_variance;

Thank you.

Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Labels
None yet
Projects
None yet
Development

No branches or pull requests

1 participant