Need Extrinsic calibration?

[d2h7]

Hi!
i am wondering does it necessary to have extrinsic calibration matrix, i don't find any file for extrinsic calibration, but when i replace the topic with my own sensors , it seems that the imu doesn't align with vision, the path is wrongly calculated.
i am waiting for your reply, thank you!

[dvorak0]

Yes. For details, see https://github.com/dvorak0/VI-MEAN/blob/release/self_calibration_estimator/src/parameters.cpp and https://github.com/dvorak0/VI-MEAN/blob/release/self_calibration_estimator/launch/mapping/sample.launch.

[d2h7]

Thank you for your reply!
i notice the ric_ is related to the extrinsic rotation matrix, but i don't quite understand what does y0,p0,r0 means, does it means the rotation angle of x, y, z?

[dvorak0]

Euler angle. here is the convert function. https://github.com/dvorak0/VI-MEAN/blob/release/self_calibration_estimator/src/utility.h

[d2h7]

i see…thank you very much!