Fix D435i IMU Extrinsics #3901
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Fix D435i IMU Extrinsics #3901
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Previously (the rotational part of) _depth_to_imu was applied to the IMU to get depth coordinates when we should have applied the inverse. In addition the translational part was negated. The aligning of the IMU with the depth camera is separated from the exported-to-user/eeprom-stored extrinsics such that the stored and default extrinsics now are with respect to the depth aligned IMU.
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Should have been again |
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Previously (the rotational part of)
_depth_to_imuwas applied to the IMU data to put them in depth coordinates when we should have applied the inverse. In addition the translational part of the extrinsics had the wrong sign.To clean this up, the aligning of the IMU with the depth camera is separated from the exported-to-user/eeprom-stored extrinsics such that the stored and default extrinsics now are with respect to the depth-aligned IMU. This has the effect of completely hiding the coarse aligning of the IMU to depth camera from users.
This is based on the extrinsics graph fix, #3900, without which the extrinsics would still be wrong.
CC @dperox, @dmirota, @schmidtp1.