Since the orientation is a vector, I have seen the orientation covariance
shown as a scaled cone.
--
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
William Woodall
Graduate Software Engineering
Auburn University
w@auburn.edu
wjwwood@gmail.com
williamjwoodall.com
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
On Fri, Aug 3, 2012 at 12:05 PM, Thomas Moulard <
thomas.moulard@gmail.com>wrote:
> On Fri, Aug 3, 2012 at 3:37 PM, Jack O'Quin <jack.oquin@gmail.com> wrote:
> > On Fri, Aug 3, 2012 at 7:58 AM, Thomas Moulard <thomas.moulard@gmail.com>
> wrote:
> >> Hello there,
> >> I have written a small package called rviz_plugin_covariance.
> >>
> >> It is an rviz plug-in (using the new ROS Fuerte C++ API) displaying
> >> geometry_msgs/PoseWithCovarianceStamped messages.
> >>
> >> It is based on this blog post [1] and on the rviz API tutorial.
> >>
> >> The package page on the wiki is here (not yet indexed):
> >> http://www.ros.org/wiki/rviz_plugin_covariance
> >>
> >> It is available on GitHub at:
> >> https://github.com/laas/rviz_plugin_covariance
> >>
> >> [1]
> http://geus.wordpress.com/2011/09/15/how-to-represent-a-3d-normal-function-with-ros-rviz/
> >
> > Thanks for providing that, Thomas. I am sure it will be very useful.
> >
> > Questions:
> >
> > * Is there a way to handle Odometry messages?
>
> It is easy to extend the plug-in to be able to display Odometry
> messages, for the position covariance at least. Representing twist
> covariance is more difficult.
>
> > * How could orientation covariance be displayed?
>
> I am only considering the upper-left 3x3 block of the covariance
> matrix currently.
> I made a quick google search w/o finding any relevant paper, but it seems
> like
> a "classical" issue so I would be suprised this has not already been
> solved...
>
> --
> Thomas Moulard
> http://www.linkedin.com/in/moulard
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