From 4563e65245cc1d5b301360b04d584d6988cb153d Mon Sep 17 00:00:00 2001 From: noacoohen Date: Sun, 19 Jan 2025 16:46:56 +0200 Subject: [PATCH] fix d457 extrinsics --- src/ds/ds-calib-parsers.cpp | 8 +++++++- 1 file changed, 7 insertions(+), 1 deletion(-) diff --git a/src/ds/ds-calib-parsers.cpp b/src/ds/ds-calib-parsers.cpp index c9dee14cce..bea1b9b28d 100644 --- a/src/ds/ds-calib-parsers.cpp +++ b/src/ds/ds-calib-parsers.cpp @@ -158,12 +158,18 @@ namespace librealsense _def_extr = { { 1, 0, 0, 0, 1, 0, 0, 0, 1 }, { -0.00552f, 0.0051f, 0.01174f} }; _imu_2_depth_rot = { {-1,0,0},{0,1,0},{0,0,-1} }; } - else if (_pid == ds::RS455_PID || _pid == ds::RS457_PID) + else if (_pid == ds::RS455_PID) { // D455 specific - Bosch BMI055 _def_extr = { { 1, 0, 0, 0, 1, 0, 0, 0, 1 },{ -0.03022f, 0.0074f, 0.01602f } }; _imu_2_depth_rot = { { -1,0,0 },{ 0,1,0 },{ 0,0,-1 } }; } + else if( _pid == ds::RS457_PID ) + { + _def_extr = { { 1, 0, 0, 0, 1, 0, 0, 0, 1 },{ -0.09530f, -0.00056f, 0.01740f } }; + _imu_2_depth_rot = { { -1,0,0 },{ 0,1,0 },{ 0,0,-1 } }; + + } else // unmapped configurations { // IMU on new devices is oriented such that FW output is consistent with D435i