Pose3 Covariance Order

[Paul Belanger]

Hello,

I'm trying to use GTSam to peform some factor graph optimzation in 3D, and I have some questions regarding the ordering of the covariance matricies.

From what I can grok, it appears to be rotx, roty, rotz, x, y, z? And covariance matricies for Rot3 are expressed in rotx, roty, rotz order?

Also, what is the order of conjugation when specifying the covariance matrix for a Rot3? I am currently running under the assumption that GTsam expects R = Rx * Ry * Rz order.

Thank you,

Paul B.

[Frank Dellaert]

Is this resolved? Yes for the first question.

[Frank Dellaert]

Please re-open if not clear.