Given a vector of Pose samples, how do I compute the PoseWithCovariance?

asked 2019-11-20 01:57:19 -0600

Rufus gravatar image

updated 2019-11-20 02:43:30 -0600

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?

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I don't think there is anything in ROS for this, maybe you can use ceres for that.

Choco93 gravatar imageChoco93 ( 2019-11-20 02:28:14 -0600 )edit