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North Star + DepthAI + Basalt fixes.

Mario Kleiner requested to merge kleinerm/monado:northstarfixes into main

This is a series of 3 commits to fix issues I encountered when trying to test Handtracking and Basalt slam on a simulated North Star HMD, using a Luxonis Oak-D Pro DepthAI stereo camera for hand tracking and basalt vio. The setup was simply the camera connected to a laptop, using a North Star config file to display content to a window on the laptop display, instead of a real North Star HMD, as I just wanted to (ab)use the northstar builder to test tracking with a Luxonis camera.

  1. commit fixes a crash of monado-service.
  2. commit makes sure the IMU data from the DepthAI camera is handled correctly.
  3. commit fixes the axis orientation, so basalt vio reported poses match the OpenXR reference frame.

With these fixes applied, basic OpenXR applications work correctly, although the Mercury hand tracking is rather jittery, and Basalt vio tracking is so noisy and fragile that it is almost useless.

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