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2014-07-02 06:21:41 -0500	commented answer	Computing PoseWithCovariance's 6x6 matrix My doubts are not so much regarding ROS inner works (someone else is working on that), I just need to convert the values from a PoseWithCovariance msg into positional information, rotation included. Unity3D supports both euler and quaternion angles, chances are I'll end up doing a quaternion->euler conversion, at least at early stages of the project to help debugging the application possible issues that may arise.
2014-07-02 06:14:33 -0500	commented answer	Computing PoseWithCovariance's 6x6 matrix The only information the application needs is (most accurate) localization. After reading the covariance definition I guess the 6x6 matrix will not be needed. I am however confused about PoseWithCovariance Message definition: it states that "# In order, the parameters are: # (x, y, z, rotation about X axis, rotation about Y axis, rotation about Z axis)" with no W variable typically present in the Quaternion, which from what I've read so far represents the amount of rotation so it would have to be present right?
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2014-07-01 09:33:43 -0500	asked a question	Computing PoseWithCovariance's 6x6 matrix Greetings, I'm currently developing in Unity3D a projection mapping application to be used with a projector mounted on a robot, displaying Augmented Reality content in any (planar) surface. The application will require the robot's positioning which will be published in a ROS topic. Unfortunately I don't have access to the robot yet, however I do know the type of message chosen to represent its location: PoseWithCovariance msg (docs.ros.org/api/geometry_msgs/html/msg/PoseWithCovariance.html) My experience with ROS is extremely limited and the end goal is to convert the positional information contained within PoseWithCovariance's 6x6 matrix and convert it to its respective 3D position and orientation in a referential defined within Unity3D. The values in Unity3D are simply the position (x,y,z) and rotation around the 3 axis. My problem lies with the conversion of the matrix into those values. Unfortunately the raw message definition alone linked earlier doesn't include an example of some sort or additional info on how to convert the matrix values. Any help would be greatly appreciated!