We use
MagicLeap.OpenXR.Features.PixelSensors.MagicLeapPixelSensorFeature.GetSensorData(PixelSensorId sensorType, uint streamIndex, out PixelSensorFrame frame, out PixelSensorMetaData metaData, Allocator allocator, long timeOut = 10, bool shouldFlipTexture = true).
For getting pose, we use the custom GetSensorPose, You wrote in
Hologram Drift Issue When Tracking Object with Retroreflective Markers using Depth Camera (Raw data) - OpenXR - Magic Leap 2 Developer Forums
And what we se is, that if we get rgb and depth frames which has around 0.05 sec capturetime difference only, and we capture frames even with a “still” headset, the pose (x,y,z) coordinates are much higher if we capture frames 1 meter away from the origin than when we capture frame closer to origin.
On the second graph you can see the distance from origin.
on the first you can see the error between the rgb and depth frame poses.
The correlation between the distance-from-origin and the erorr-between-rgb-depth-poses can be seen easily.
on the first graph I added remarks to section (on the top of the graph) to describe the action we took meanwhile the frames recorded.