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Obviously different. It seems euler angles cannot be rorated via left-multipling a rotation matrix. Therefore, transforming a covariance matrix of euler angles is not the same as transforming translation's:
$$
Cov(RX)=R\cdot Cov(X)\cdot R^T
$$
The text was updated successfully, but these errors were encountered:
The following code is how this repository rotate covariance:
geometry2/tf2_geometry_msgs/src/tf2_geometry_msgs/tf2_geometry_msgs.py
Lines 101 to 104 in d1dc38b
This is how mrpt rotate covariance:
https://github.com/MRPT/mrpt/blob/4af6ea558bf75af9bc9798abfc3745fe7ce39c66/libs/poses/src/CPose3DPDF.cpp#L134-L158
Obviously different. It seems euler angles cannot be rorated via left-multipling a rotation matrix. Therefore, transforming a covariance matrix of euler angles is not the same as transforming translation's:
The text was updated successfully, but these errors were encountered: