comment

nushakrishnan · nushakrishnan · commit bb0f0f603f21 · 2025-10-08T16:01:43.000+02:00
diff --git a/lamaria/pipeline/optim/residual.py b/lamaria/pipeline/optim/residual.py
@@ -78,6 +78,7 @@ def setup_manifolds_and_constraints(
                 pyceres.SubsetManifold(9, constant_idxs),
             )
 
+    # IMU sensor is the reference frame, keeping identity tranformation constant
     problem.set_parameter_block_constant(session.imu_from_rig.rotation.quat)
     problem.set_parameter_block_constant(session.imu_from_rig.translation)
 

Original file line number	Diff line number	Diff line change
`@@ -78,6 +78,7 @@ def setup_manifolds_and_constraints(`
`78`	`78`	`pyceres.SubsetManifold(9, constant_idxs),`
`79`	`79`	`)`
`80`	`80`
	`81`	`+ # IMU sensor is the reference frame, keeping identity tranformation constant`
`81`	`82`	`problem.set_parameter_block_constant(session.imu_from_rig.rotation.quat)`
`82`	`83`	`problem.set_parameter_block_constant(session.imu_from_rig.translation)`
`83`	`84`