Merge pull request #1354 from luxonis/v3_basalt_fix

V3 Basalt fix

Author: moratom

examples/python/install_requirements.py

@@ -62,7 +62,7 @@ def hasWhitespace(string):
         DEPENDENCIES.append('opencv-python')
 
 if args.install_rerun:
-    DEPENDENCIES.append('rerun-sdk==0.16.0')
+    DEPENDENCIES.append('rerun-sdk')
 if args.install_open3d_cpu:
     DEPENDENCIES.append('open3d-cpu')
 # Constants

src/basalt/BasaltVIO.cpp

@@ -158,7 +158,7 @@ void BasaltVIO::initialize(std::vector<std::shared_ptr<ImgFrame>> frames) {
         R << imuExtr[0][0], imuExtr[0][1], imuExtr[0][2], imuExtr[1][0], imuExtr[1][1], imuExtr[1][2], imuExtr[2][0], imuExtr[2][1], imuExtr[2][2];
         Eigen::Quaterniond q(R);
 
-        Eigen::Vector3d trans(double(imuExtr[0][3]) * 0.01, double(imuExtr[1][3]) * 0.01, double(imuExtr[2][3]) * 0.01);
+        Eigen::Vector3d trans(-double(imuExtr[0][3]) * 0.01, double(imuExtr[1][3]) * 0.01, double(imuExtr[2][3]) * 0.01);
         basalt::Calibration<Scalar>::SE3 T_i_c(q, trans);
         calib->T_i_c.push_back(T_i_c);