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zero Rz cross covariance terms #892

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Merged
Myzhar merged 1 commit into from
May 10, 2023
Merged

zero Rz cross covariance terms #892

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zero Rz cross covariance terms
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@betaBison
betaBison committed May 9, 2023
commit 0a7244d1cd0acc6508f1eef6bb6d8e8290779fe4
2 changes: 1 addition & 1 deletion zed_nodelets/src/zed_nodelet/src/zed_wrapper_nodelet.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1721,7 +1721,7 @@ void ZEDWrapperNodelet::publishOdom(tf2::Transform odom2baseTransf, sl::Pose& sl
if (mTwoDMode) {
if (i == 14 || i == 21 || i == 28) {
odomMsg->pose.covariance[i] = 1e-9; // Very low covariance if 2D mode
} else if ((i >= 2 && i <= 4) || (i >= 8 && i <= 10) || (i >= 12 && i <= 13) || (i >= 15 && i <= 16) || (i >= 18 && i <= 20) || (i == 22) || (i >= 24 && i <= 27)) {
} else if ((i >= 2 && i <= 4) || (i >= 8 && i <= 10) || (i >= 12 && i <= 13) || (i >= 15 && i <= 20) || (i >= 22 && i <= 27) || (i == 29) || (i >= 32 && i <= 34)) {
odomMsg->pose.covariance[i] = 0.0;
}
}
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