A question about VIO reference system.
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There is one thing on the VIO reference system that made me confused... We have T_imu_wrt_vio which is "Translation of the IMU with respect to VIO frame in meters", and we have T_cam_wrt_imu which is "Location of the optical center of the camera with respect to the IMU." I just want to clarify...
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I would think that T_cam_wrt_imu (Also the rotation) is a fixed number (since the vector between the camera and the imu should be constant in the fixed frame of the drone).. and when I measured it on the Starling indeed is something like (0.026 0.007 0.024) most of the time.. but the T and R (0 45 90) changes slightly during movement.. is this because the IMU itself moves internally a bit ?
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is the T_imu_wrt_vio the XYZ global position of the IMU that is given by the VIO algorithm ? So it should be interpreted as the position in space of the drone... Sorry the sentence "with respect to VIO frame" confused me a bit...
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@Caio-Licínio-Vasconcelos-Pantarotto the VIO algorithm takes the starting extrinsics and refines based on movement of the system. So, it's normal to see small updates to the value
