7 Replies Latest reply on Jun 28, 2017 1:21 AM by SubMarIn

    Pose and Twist Covariances in the topic /realsense/odom



      I intend to use the output of the RealSense SLAM node as an input to a Unscented Kalman Filter for doing some sensor fusion. For that, I need the pose and the twist covariance matrices, but in the topic named /realsense/odom, all the elements in the  covariance matrices are set to zero. Is there any way to access the covariance matrices which result from the SLAM algorithm implement on the Intel Euclid Realsense device.