Pose as extrinsics reference #4507
Conversation
There was a problem hiding this comment.
This is self consistent in librealsense, but needs testing on the ros side @schmidtp1.
|
Note that this code makes |
|
I don't see NaNs any longer. The output of this PR looks good to me. |
| @@ -36,6 +36,9 @@ namespace librealsense | |||
| }; | |||
| bool compress_while_record() const override { return false; } | |||
|
|
|||
| protected: | |||
There was a problem hiding this comment.
I can see the new function's definition but I actually cannot see where and it is applied in the code.
@cchen6 , can you elaborate?
There was a problem hiding this comment.
@ev-mp it is used on tm2-device.cpp line 1518. tm2-device as sub device to use it for reference to pose sensor, differ from ds5 device which use first sensor (infrared 1) as reference.
Make pose as reference for extrinsics