Egocentric slam collection on my own hardware achieved with @rerundotio! Previously, I'd all my own ego collections used a static camera. This is obviously not a good long-term solution and only really made sense for initial development. Now I can easily collect samples that have super-accurate slam from a quest device, and the giant field of view from a stereo + RGB camera rig. As you can see in the video, I'm still working through some bugs, but I wanted to share some progress anyway. Hoping to have all kinks worked out by Friday. The main thing I need to fix is a weird offset happening between each of the rigs. I need to stop representing cameras as individuals, but rather as rigs that have fixed relative positions to ensure rigid motion.