Standard Message for Sensor Accuracy
We are using an NDI measurement system that returns an "Indicator Value" for how much error is estimated on a reading. This is a single value that corresponds with the goodness of fit for 6-DOF sensors.
Indicator Value: X . XXXX
An estimate of how well the Aurora System calculated the transformation. Values range from 0 to 9.9. A higher value indicates a higher error.
Is there a message type that is typically used for these values? Nothing jumped out when looking at the geometry_msgs and sensor_msgs. My default thought would just be a generic Float64
Would this be the (co)variance associated with the measurement?
If so: there are other message types which have a field that encodes for that. sensor_msgs/Temperature is one of them. It would indeed "just" be a
float64, but given the name and the context that doesn't seem so bad.The documentation is a bit vague for this system. I imagine some combined metric of variance of the sensor's orientation and translation for simplicity. I would feel okay about the float message type, but just needed a second opinion!
I'm be surprised if they didn't also expose the covariances used to create this metric
I searched through the API doc and didn't see any additional tracking information to request. I'll see if an email turns up anything I may have missed.
Could it perhaps some sort of inverted confidence indication? So
0.0is "full confidence",9.9is "no confidence". Almost a percentage divided by 10.That's what I was thinking, just something humans can easier read. That's why I asked if there was potentially something that let you get around it