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Getting transformation (6D) between two frames

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@HumamHelfawiOptecks wrote:

Hi,
Depending only on the IMU (No GPS or other sensors), I want to get transformation that happened between two frames (two moments) which includes YAW, PITCH, ROLL, X, Y, Z.

How to do it with Ardupiolet?

P.S. I am aware that the transformation is not accurate. I just need it as an initial guess.

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