Covariance Matrix not Generated. about rtimulib2 HOT 6 OPEN

Yes, the current calibration does not generate the covariance matrix. For Kalman fusion, it will be estimated online.

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Hey @HongshiTan Thanks for your time! Could you explain what you mean by "estimated online"? Do you mean it will be generated while using the library in general using the calibration file?

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Hi, sorry for the delay, the calibration file does not contain the covariance matrix. Maybe you can send the detailed algorithm that you refer to so that I can identify the difference for you.

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Hi @HongshiTan. I'm sorry, I think there has been a miscommunication. What I meant to say/ask was, in your first comment you mentioned that for Kalman Fusion, the calibration will be "estimated online". I wanted to know what exactly you meant by "estimated online", and can I use that covariance matrix? Because, in my usage the covariance matrix is always shown to be empty, and I cannot see online generated covariance matrix anywhere. I am not referring to any detailed algorithm.

Thanks in Advance!

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Hi @adityasivaraj. I believe you are looking for this matrix:

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