Published orientation covariance is not a covariance.

[InigoMoreno]

temp += (mean - data[i]) * (mean - data[i]);rock-drivers/drivers-vicon/ViconUncertainty.hpp#L61

Here, the variance of the transformation matrix is computed.

rbs.cov_position = transform_uncertainty.block<3,1>(0,3).asDiagonal();
rbs.cov_orientation = transform_uncertainty.block<3,3>(0,0); rock-drivers/drivers-orogen-vicon/tasks/Task.cpp#L101
However, here, the variance is published on the RigidBodyState as a covariance.

At least for the position the variance is placed on the diagonal of the covariance matrix, which is correct. But for the orientation, the variance of the transformation matrix is published as the covariance of the orientation. This orientation covariance, according to the rock documentation should be the covariance matrix of the orientation as an axis/angle manifold in body coordinates.