ROS Answers: Open Source Q&A Forum - RSS feedhttps://answers.ros.org/questions/Open source question and answer forum written in Python and DjangoenROS Answers is licensed under Creative Commons Attribution 3.0Wed, 20 Nov 2019 02:28:14 -0600Given a vector of Pose samples, how do I compute the PoseWithCovariance?https://answers.ros.org/question/338066/given-a-vector-of-pose-samples-how-do-i-compute-the-posewithcovariance/ Given a vector of pose estimates, how do I compute the PoseWithCovariance? Is there a simple function that does this conversion? Or do I need to manually calculate the mean of each pose entry and manually compute the covariance?Wed, 20 Nov 2019 01:57:19 -0600https://answers.ros.org/question/338066/given-a-vector-of-pose-samples-how-do-i-compute-the-posewithcovariance/Comment by Choco93 for <p>Given a vector of pose estimates, how do I compute the PoseWithCovariance? Is there a simple function that does this conversion? Or do I need to manually calculate the mean of each pose entry and manually compute the covariance?</p>
https://answers.ros.org/question/338066/given-a-vector-of-pose-samples-how-do-i-compute-the-posewithcovariance/?comment=338078#post-id-338078I don't think there is anything in ROS for this, maybe you can use [ceres](http://ceres-solver.org/nnls_covariance.html) for that.Wed, 20 Nov 2019 02:28:14 -0600https://answers.ros.org/question/338066/given-a-vector-of-pose-samples-how-do-i-compute-the-posewithcovariance/?comment=338078#post-id-338078