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The coordinate-frame check should include uncertainty as well as position and orientation. Rotating a pose into the aircraft frame while leaving an anisotropic covariance in the camera frame changes which direction the estimator believes is reliable, even when the pose message looks plausible.
A replay fixture with a known mounting rotation and much greater uncertainty along one camera axis would make this visible. The transformed pose and uncertainty should agree about the same physical direction. That would test a part of the integration contract that a straight-line trajectory with symmetric uncertainty can accidentally hide.
Ahmet Özel
The coordinate-frame check should include uncertainty as well as position and orientation. Rotating a pose into the aircraft frame while leaving an anisotropic covariance in the camera frame changes which direction the estimator believes is reliable, even when the pose message looks plausible.
A replay fixture with a known mounting rotation and much greater uncertainty along one camera axis would make this visible. The transformed pose and uncertainty should agree about the same physical direction. That would test a part of the integration contract that a straight-line trajectory with symmetric uncertainty can accidentally hide.