Leica to body Rotation Matrix wrong in dataset sensors.yaml?

[jinchenglee]

I found the sensors.yaml doesn't agree with figure-1 in EuRoC dataset paper: https://projects.asl.ethz.ch/datasets/lib/exe/detail.php?id=kmavvisualinertialdatasets&media=platform.jpg

I modified the T_BS for leica from: T_BS: cols: 4 rows: 4 data: [1.0, 0.0, 0.0, 7.48903e-02, 0.0, 1.0, 0.0, -1.84772e-02, 0.0, 0.0, 1.0, -1.20209e-01, 0.0, 0.0, 0.0, 1.0]

To be below: // Original matrix doesn't agree with EuRoC data figure 1. // From S (Leica) coordinates to Body (IMU): // Rotate 90 degree about y axis, then rotate 180 degrees about z axis. T_BS should be: T_BS: cols: 4 rows: 4 data: [0.0, 0.0, 1.0, 7.48903e-02, 0.0, -1.0, 0.0, -1.84772e-02, 1.0, 0.0, 0.0, -1.20209e-01, 0.0, 0.0, 0.0, 1.0]

[mrr-05]

did you find the right matrix? thanks!