covariances started to implement
building a ellipsoid from covariance matrix. and groundtruth data added
plotting ellipsoids done. resize factor somehow strange...but we will see after aplying the groundtruth.
plotting ellipsoids done. resize factor somehow strange...but we will see after aplying the groundtruth.
plotting ellipsoids done. resize factor somehow strange...but we will see after aplying the groundtruth.
groundtruth added and implemented to code
new error ellipsoid approach added and tried to find a reasonable good initial covariancce.
covariances adapted
Install notes
minor clean up and refactoring
clean up
taking uncertainty of rotation into account