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Hi, im implementing regularized particle filter. My particle has coordinate x,y,z. All particles would make up a matrix n by 3 matrix . i wonder is there any existing code to find covariance matrix of a matrix in c++ somewhere in ros . This is easily done by matlab but c++ is too complicated
I'm unaware of a "ROS" way of doing this, but if you are using C++, I'd recommend using Eigen. It is easily installed and used extensively by many ROS packages. If you're using a ROS Indigo or Jade, you'll need to depend on the cmake_modules package to get catkin to build your code (see these instructions).
If you're using Eigen, there are easy ways to calculate covariance using built-in Eigen matrix functions. For a few examples, see this Stack Overflow post.
Asked: 2015-12-03 00:02:13 -0500
Seen: 594 times
Last updated: Dec 03 '15
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