Pose as extrinsics reference #4507
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This is self consistent in librealsense, but needs testing on the ros side @schmidtp1.
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Note that this code makes |
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I don't see NaNs any longer. The output of this PR looks good to me. |
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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?
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@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.
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Make pose as reference for extrinsics