At the moment the transformer does not transform the covariance matrix. See https://github.com/ethz-asl/ethz_piksi_ros/blob/master/piksi_multi_cpp/src/sbp_callback_handler/sbp_callback_handler_relay/ros_enu_relays.cc#L74-L75 for a starting point.
At the moment the transformer does not transform the covariance matrix. See https://github.com/ethz-asl/ethz_piksi_ros/blob/master/piksi_multi_cpp/src/sbp_callback_handler/sbp_callback_handler_relay/ros_enu_relays.cc#L74-L75 for a starting point.