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UbiquityRobotics / fiducials

Simultaneous localization and mapping using fiducial markers.
BSD 3-Clause "New" or "Revised" License
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Covariance matrix being set incorrectly - not diagonal #158

Closed rohbotics closed 5 years ago

rohbotics commented 5 years ago

What we have:

[
0.1, 0.0, 0.0, 0.0, 0.0, 0.0, 
0.1, 0.0, 0.0, 0.0, 0.0, 0.0, 
0.1, 0.0, 0.0, 0.0, 0.0, 0.0, 
0.1, 0.0, 0.0, 0.0, 0.0, 0.0, 
0.1, 0.0, 0.0, 0.0, 0.0, 0.0, 
0.1, 0.0, 0.0, 0.0, 0.0, 0.0
]

What it should be

[
0.1, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.1, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.1, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.1, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.1, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.1
]