Re: RTABMAP_ROS with ORBSLAM3

Posted by jinjo on
URL: http://official-rtab-map-forum.206.s1.nabble.com/RTABMAP-ROS-with-ORBSLAM3-tp10153p10171.html

Hey Mathieu,

Thank you for your efforts and the new commit. I got it working with ROS. I wanted to know a bit more about Pose Covariance.  ORBSLAM3 doesn't evaluate the Pose Covariance but RTABMAP integrated with ORBSLAM does output the covariance. It's seems to output a single value for Cxx Cyy and Czz. Firstly, how did you formulate the covariance evaluation and how are Cxx Cyy and Czz same? Specially variation in z cannot be same as x and y.

Here is the sample of Covarince output:
 position:
      x: 7.632015705108643
      y: 2.2905454635620117
      z: 0.4457640051841736
    orientation:
      x: 0.7882877155282363
      y: 0.10501581808155115
      z: -0.6004122970172704
      w: 0.08413815478355872

  covariance: [0.04523331399410964, 0.0, 0.0, 0.0, 0.0, 0.0,
                      0.0, 0.04523331399410964, 0.0, 0.0, 0.0, 0.0,
                      0.0, 0.0, 0.04523331399410964, 0.0, 0.0, 0.0,
                      0.0, 0.0, 0.0, 0.00033940442427294335, 0.0, 0.0,
                      0.0, 0.0, 0.0, 0.0, 0.00033940442427294335, 0.0,
                      0.0, 0.0, 0.0, 0.0, 0.0, 0.00033940442427294335]

Warm Regards
Rishabh