This pull request zeroes the cross covariance terms between R_z & Z, R_z & R_x, and R_z & R_y when the camera is in 2D mode.
The matrix indexes for the 6x6 covariance matrix from the ROS PoseWithCovariance message for reference:
x
y
z
R_x
R_y
R_z
x
0
1
2
3
4
5
y
6
7
8
9
10
11
z
12
13
14
15
16
17
R_x
18
19
20
21
22
23
R_y
24
25
26
27
28
29
R_z
30
31
32
33
34
35
Currently only some of the cross-correlation terms are zeroed. A dash represents that the value is left unchanged.
x
y
z
R_x
R_y
R_z
x
-
-
0
0
0
-
y
-
-
0
0
0
-
z
0
0
1e-9
0
0
-
R_x
0
0
0
1e-9
0
-
R_y
0
0
0
0
1e-9
-
R_z
-
-
-
-
-
-
The new behavior zeroes out the R_z cross correlation terms so you're essentially left with a covariance matrix that's only the X,Y, and Rz diagonal terms and their respective cross-correlation terms with each other.
Myzhar
commented
1 year ago
This pull request zeroes the cross covariance terms between R_z & Z, R_z & R_x, and R_z & R_y when the camera is in 2D mode.