the extrinsic of rtk is not consistent with the picture in ijrr paper

[Shepherddot]

hello, I plot the position and orientation of rtk with pangolin, but the x-axis is point to the left of the forwarding direction

if I rotate the coordinate along the z-axis clockwise with 90 degree, it seems more reasonable and is consistent with extrinsic of ins in ijrr paper.

[Shepherddot]

to visualize the extrinsics of three omni and ins wrt stereo in opencv viz, I suppose that the extrinsics in mono_left.txt, mono_right.txt and mono_rear.txt is the stereo wrt omni, not omni wrt stereo. so if I take the inverse, it will be consistent with ins.

[zhhclamber]

Hi, I met the same problem as you, may I know how you now get the precise external parameters of the stereo camera coordinate system and the rtk coordinate system？