Covariance matrix

[kdhRGT]

Hello author!

I like your project. thank you so much to share your program.

I have a small question.

i found a covariance matrix in Claserodometry2D.cpp line 719

cov_odo = (1.f/float(num_valid_range-3))*AtA.inverse()*res.squaredNorm();

this is covariance value, right?

now I saw that matrix is 3x3.

In the matrix, I understand that value is in below:

t=theta

x-x x-y x-t
y-x y-y y-t
t-x t-y t-t

this is correct?

Thank you so much

best regards

[Kaetera]

This is a long time now, but I'm also try to get the covariance of the speed estimation and saw the lines above.
However the elements in the matrix have values around 10^-9 on my real system, what sound unrealistic (would mean an accuracy of the order of the micrometer as I understand).

Did you got or confirm that the line you mention is the covariance matrix of the speed estimation ?