task 1 requires to provide imu pose:
Response (geometry_msgs/PoseStamped)
Contains the pose of the IMU (!). Use the timestamp and sequence information contained in
the header of image[0], and write this into the header of the pose.
How is the camera frame positioned on the camera with respect to
the optical axis and horizontal direction?
Should we assume the convention (X Right, Y Down, Z out). ?
Which reference frame should we use as "world" for imu pose ?
in other words: the imu pose must be computed with respect to a certain fixed/inertial reference frame.
Which frame should we use?
Something similar to what we see in section 3.5.2 of the Challenge 3 ‒ Technical Annex for
Stage I pdf document?
Thsnks,
Team UNIPI