PointCovariance

Summary

3D point covariance container.

Methods

cholesky

Signature: cholesky() -> Matrix3d

Return Cholesky factor of covariance.

eigen_vals

Signature: eigen_vals() -> Matrix31d

Return covariance eigenvalues.

matrix

Signature: matrix() -> Matrix3d

Return full 3x3 covariance matrix.

Properties

Cxx

Variance in x.

Cxy

Covariance between x and y.

Cxz

Covariance between x and z.

Cyy

Variance in y.

Cyz

Covariance between y and z.

Czz

Variance in z.