Hi, thanks for the great work! I had a question about the definition of the wheel odometry noises. If I understand correctly, noise_w and noise_v are the continuous-time noises for the angular/linear velocity, and noise_p is the noise associated with the planar constraint. However, when the 6x6 noise covariance matrix is computed within UpdaterWheel.cpp, noise_w is placed in the first diagonal element while noise_p is applied to the 2nd and 3rd diagonal elements.

Why is the noise covariance matrix not set to

    Q.block(0, 0, 1, 1) << pow(state->op->wheel->noise_p, 2) / dt;
    Q.block(1, 1, 1, 1) << pow(state->op->wheel->noise_p, 2) / dt;
    Q.block(2, 2, 1, 1) << pow(state->op->wheel->noise_w, 2) / dt;
    Q.block(3, 3, 1, 1) << pow(state->op->wheel->noise_v, 2) / dt;
    Q.block(4, 4, 1, 1) << pow(state->op->wheel->noise_p, 2) / dt;
    Q.block(5, 5, 1, 1) << pow(state->op->wheel->noise_p, 2) / dt;

since the rotation is about the z-axis of the odometry frame? Thank you!