Keeping imu_from_rig constant at identity#10
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nushakrishnan merged 5 commits intomainfrom Oct 8, 2025
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Pull Request Overview
This PR removes the optimize_imu_from_rig configuration option and ensures that IMU-to-rig transformation parameters are always kept constant during optimization. The change simplifies the optimization configuration by hardcoding this behavior instead of making it configurable.
- Removed
optimize_imu_from_rigboolean flag from configuration options - Updated optimization logic to always keep IMU-to-rig parameters constant
- Cleaned up legacy comment in defaults configuration
Reviewed Changes
Copilot reviewed 3 out of 3 changed files in this pull request and generated 1 comment.
| File | Description |
|---|---|
| lamaria/config/options.py | Removed optimize_imu_from_rig boolean field from OptIMUOptions class |
| lamaria/pipeline/optim/residual.py | Simplified optimization setup by removing conditional logic and always keeping IMU-to-rig parameters constant |
| defaults.yaml | Removed optimize_imu_from_rig configuration entry and legacy comment |
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B1ueber2y
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Oct 8, 2025
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Accidentally clicked on Copilot for review... is there a way to disable this option? |
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Also removed a legacy comment.