getCalibration() --> getIntrinsics()
Simplify all stuff regarding calibration
Only intrinsic params can be calibrated by processorMotion.
Currently, the calibration parameters are defined by the set of sensor parameters that is declared unfixed
in the sensor.
In the ProcessorMotion
side, however, only a particular combination of calibration parameters has been taken care of. therefore:
- If sensor declares other params as unfixed, they will be transferred to the processor and a size mismatch will occur.
- If the calib parameters want to be fixed in the sensor, then they will be not be sent to the processor and this will fail also with a size mismatch
- Worse, if a different set of params with the same size is unfixed, then the Processor will no notice the difference and will continue processing but producing aberrant results.
Solution:
Make calibration == intrinsics
. This even if they are fixed. This way, the processor will always receive the same vector, regardless of the options set for the sensor. If fixed, these will not be estimated by the solver -- in principle this should not have any adverse consequences.
Edited by Joan Solà Ortega