Hello,
I would like to confirm the precise definition of the /zed2i/zed_node/left_cam_imu_transform topic. Specifically, does the translation field represent the position of the IMU in the camera coordinate frame, or the position of the camera in the IMU coordinate frame?
This distinction is important because different conventions may describe the transform in opposite directions. Understanding the intended frame relationship will help avoid confusion when interpreting or using this transform.
Thank you!