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46 Covariance always zero · Issue #46 · NVIDIA-ISAAC-ROS/isaac_ros_apriltag · GitHub
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Covariance always zero #46

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sandeepdutta opened this issue Feb 5, 2024 · 2 comments
Open

Covariance always zero #46

sandeepdutta opened this issue Feb 5, 2024 · 2 comments
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enhancement New feature or request

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@sandeepdutta
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Hello,

I have been experimenting with this package, it is a high performance apriltag detector.
However I see that the covariance matrix is always zero, am I doing something incorrect ?
Without the covariance matrix, we are unable to determine the reliability of the detection.

Thank you
Sandeep
@ashwinvkNV
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The current version of the library does not provide a covariance estimate as an output.@jaiveersinghNV can you mark this as a feature request?

@swapnesh-wani-nvidia swapnesh-wani-nvidia added the enhancement New feature or request label Feb 5, 2024
@gftabor
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gftabor commented Apr 26, 2024

Ya this seems to be because the main apriltag_ros repo does the same thing.
AprilRobotics/apriltag_ros#122

Made the design decision to publish Pose Covariance but only actually provide Pose messages and always leave covariance as 0. Actually filling the covariance data would be amazing. There is discussion in that linked issue above.

Hey @jaiveersinghNV :)

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@sandeepdutta @gftabor @swapnesh-wani-nvidia @ashwinvkNV








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