There seems to be an issue with the extrinsics of the camera calibrated online

[CanCanZeng]

There seems to be an issue with the extrinsics of the camera calibrated online. I printed out the rotation part of the calibrated camera extrinsic in the code and calculated the Rt * R result, but found that it is not an identity matrix and in some cases is far from it. This does not seem to be caused by numerical accuracy issues.

std::shared_ptr<PoseJPL> calib = state->_calib_IMUtoCAM.at(i);
Eigen::Matrix3d R = calib->Rot();
std::cout << "Rt*R=" << R.transpose() * R << std::endl;

[CanCanZeng]

I made a mistake, I used R=R. transpose() in the code, which resulted in undefined errors in the results of R.