HiRes camera extrinsics config

[Gary Holmgren]

Hi, I am setting up the extrinsic on my Voxl 2 with front stereo, hires, and track, but I cannot find any information on the name of the hires sensor in the config file so that it uses the sensor correctly. I have seen someone refer to the name as 'RGB camera,' and some configs show 'lepton.'

Is the Hires sensor normally not used in the extrinsic config as it's not used for odometry? I am using the 4k MSU-M0024 camera for my hires.

[Alex Kushleyev]

@Gary-Holmgren , you are correct, the high resolution camera is not used for VIO, we typically use it just for video recording / streaming.

You can certainly add a new transform to the extrinsics file and use it in your application. You should use the same name for the camera in the extrinsics file as you name it in voxl-camera-server.conf just to be consistent.