@Tony_neol sorry for the issue. the one in depthai-python is correct. the other one is wrong. Will be fixed in the next release of SDK.
Here is an image of the readings with each axis facing up. This aligns with X-axis facing down, Y-axis facing towards the right camera and Z-axis facing backwards for the IMU axises. That also satisfies the IMU being on right hand coordinate system.
I'm also curious as to why a left handed coordinate frame is used? Use of a right handed system is the convention.
@Tony_neol did you find a solution for converting to a right hand frame for use in Kalibr?
@Tony_neol / @RangerOnMars disregard the comment above. This was confirmed by the development team;
As IMU is mounted at the back of the PCB. So compared to optical frame coord system, you get IMU coord system by applying the following rotation:
--roll', '3.14159', '--pitch', '0', '--yaw', '1.5708'I hope this is correct, but I'm still not 100% sure.
Thanks, Erik