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Covariance Matrix for the odometry ? #27

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swiipius opened this issue Jul 22, 2023 · 2 comments
Open

Covariance Matrix for the odometry ? #27

swiipius opened this issue Jul 22, 2023 · 2 comments
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@rsasaki0109
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enhancement New feature or request

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@swiipius
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From running the li_slam_ros2 in my project, I can see that the covariance matrix for the odometry is set to 0 is their anyway to get calculated values like the original LIO-SAM did ? I would like to add li_slam_ros2 as an odometry source for the robot_localization stack :D
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rsasaki0109 commented Jul 22, 2023 •
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What is the topic name with covariance in LIO-SAM that I can refer to for consideration?

@rsasaki0109 rsasaki0109 self-assigned this Jul 22, 2023
@rsasaki0109 rsasaki0109 added the enhancement New feature or request label Jul 22, 2023
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rsasaki0109 commented Jul 23, 2023 •
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It seems that you can obtain covariance with the marginalCovariance function in ISAM2 of GTSAM.
In g2o, it appears you can output the error covariance for each vertex using the computeMarginals function.

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