@Kazadhum this seems to be wrong. Should we not use additional_tf['child_link]? And this is quite a but.

[miguelriemoliveira]

In file atom_core/src/atom_core/utilities.py

atom/atom_core/src/atom_core/utilities.py

Line 190 in 8ceac77

transform_key = generateKey(additional_tf["parent_link"], sensor["child_link"])

[miguelriemoliveira]

Hey @Kazadhum ,

did you see this?

[Kazadhum]

Hi @miguelriemoliveira! Yes, this does seem very wrong...

This does impact my results with the Liang method for camera-IMU calibration, as it includes an additional transformation in its configuration. The good news is those calibrations can be re-done easily. I'll do that tomorrow.

[miguelriemoliveira]

I fixed it but in a branch for #1001 . Will commit soon.