Location estimation criteria #517
Description
Hello, thank you for developing the OpenVINS algorithm.
I have a question that came up while using it.
In the configuration file, specifically in the kalibr_imu_chain.yaml file, there is a parameter T_i_b under imu0.
Should this be interpreted as the transformation matrix between the IMU and the vehicle's center (or the reference point I want to use for pose estimation)?
Or, to clarify, what exactly is the reference point or coordinate frame that OpenVINS uses when outputting the estimated pose?
