Covariance values

[karansspk]

In avia_resize.yaml file there are some parameters: img_point_cov laser_point_cov

acc_cov_scale gyr_cov_scale Can you please tell what are these parameters and their significance? Also plz add how can we get these values from sensors?

[xuankuzcr]

photometric error cov point-to-plane residual cov acc measurement cov gyr measurement cov These values are generally empirical values of the same order of magnitude as their actual physical meaning.