Uncertainty/covariance publisher node?

[maghauke]

Hi, do you know if it is possible to make a node that publish the covariance/uncertainty matrix?

[thien94]

If you can obtain reliable pose uncertainty, you can modify pose_pub to publish the more general geometry_msgs/PoseWithCovarianceStamped message instead of PoseStamped.

But the bigger question is how do you obtain the pose uncertainty, since afaik ORB-SLAM3 does not provide one https://github.com/UZ-SLAMLab/ORB_SLAM3/issues/105

[maghauke]

I thought that you could use a hessian approximation but I do not have enough insight into the orbslam3 code…