nilsbore
Pitch correct in RAN data?
We should see if the conversion between NED and ENU coordinate system invalidates some of the pitch readings.
Basically, the heading/yaw should already be correct. The roll is the same AFAIK. However, the pitch needs to be negated. I don't know right know how this is handled for the .all and .xtf files from RAN. Maybe @xyp8023 can look into it if he's looking at the RAN data now.
According to the .xtf data format specifications, for pitch, positive value is nose up. According to the .all data format specifications, Pitch is positive with bow up. Then I think we are all set, they are both using ENU, as far as I understand.
In that case, they are using NED. Positive angles should be nose pitching down in ENU.
I wonder if we should just transition all of auvlib to use NED instead, since that is what all the formats are using. Any thoughts? It would be a pretty big undertaking.
Probably that'd be for the best if all underwater community are using NED. Saves us some effort in the future.