Use correct extrisics matrix for Basalt #1376
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@viggy96 thanks a lot for the PR! Does this fix the drift issue for your device? |
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It appears to, yes |
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Anything I can do to help get this merged? |
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Purpose
Fixes #1360.
Specification
None / not applicable
Dependencies & Potential Impact
None / not applicable
Deployment Plan
None / not applicable
Testing & Validation
Tested on an OAK-D Pro W. Device was motionless on a desk, and the resulting pose output was stable for a long time.
Notes
It appears that the
calib.T_i_cneeds a camera to IMU extrinsics matrix, however an IMU to camera was provided previously.