How to get the pose covariance of the pose estimate?

uzh-rpg / rpg_svo_pro_open

GNU General Public License v3.0

1.39k stars 385 forks source link

How to get the pose covariance of the pose estimate? #68

Open J1NJO opened 4 months ago

J1NJO commented 4 months ago

Hey, I want to utilize the pose covariance but in the ros topic of published imupose, covariance elements of the pose are always zero. Can you please guide me in which part of code should I make changes to achieve that.

Thanks!!