Using the default above is OK, as we know, the extrinsic param is important for vins
but My phone extrinsic param is [ 0, -1, 0;
-1,0,0;
0,0,-1] ,
and change into eular angle is
define RIC_y ((double)-90.0)
define RIC_p ((double)0.0)
define RIC_r ((double)180.0)
when I change the extrinsic param , it doesnot work,
log : trust_region_minimizer.cc:72 Terminating: Residual and Jacobian evaluation failed.
define RIC_y ((double)0.0)
define RIC_p ((double)0.0)
define RIC_r ((double)180.0)
Using the default above is OK, as we know, the extrinsic param is important for vins but My phone extrinsic param is [ 0, -1, 0; -1,0,0; 0,0,-1] , and change into eular angle is
define RIC_y ((double)-90.0)
define RIC_p ((double)0.0)
define RIC_r ((double)180.0)
when I change the extrinsic param , it doesnot work, log : trust_region_minimizer.cc:72 Terminating: Residual and Jacobian evaluation failed.