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Puzzle on how to rotate convariance #604

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Hypothesis-Z opened this issue May 16, 2023 · 1 comment
Open

Puzzle on how to rotate convariance #604

Hypothesis-Z opened this issue May 16, 2023 · 1 comment

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@Hypothesis-Z
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The following code is how this repository rotate covariance:

result_11 = R @ cov_11 @ R_transpose
result_12 = R @ cov_12 @ R_transpose
result_21 = R @ cov_21 @ R_transpose
result_22 = R @ cov_22 @ R_transpose

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:

$$ Cov(RX)=R\cdot Cov(X)\cdot R^T $$

@roncapat
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roncapat commented Aug 6, 2024

Have a look at this one https://github.com/giafranchini/covariance_geometry_ros

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