Revision history [back]

As far as I tested the tilt itself comes from the drifting IMU in the ZED.

When I disable the sensor fusion inside the zed2 param file the drift dosent occur and while monitoring the frames over time I notice the increasing drift.

I will have to look for a way to zero the IMU at the start. I always suspected the IMU does this by itself, but it seems this is not the case and maybe my measurments of the camera pose are slightly wrong or the IMU just drifts.