T_b_w confusion

[taogashi]

IMUState::T_imu_body =
    utils::getTransformEigen(nh, "T_imu_body").inverse();

and

  Eigen::Isometry3d T_b_w = IMUState::T_imu_body * T_i_w *
    IMUState::T_imu_body.inverse();

So in the code:

• T_i_w transforms a vector in i frame to w frame
• T_imu_body transforms a vector in i frame to b frame

However in the configuration yaml file:

• T_imu_body transforms a vector in b frame to i frame

🤣🤣🤣

[ke-sun]

You are right.
We start with a different naming convention from Kalibr.
It's too late until we realize that.

[taogashi]

Thx, clear now.