Difference in extrinsic parameters between euroc dataset and config file you provided.

[SiyuanHuang95]

HI, first of all, thanks for the code sharing. :)

1. I noticed that the camera parameters are different with prameters in euroc_config.yaml, like the issue #206 pointed out.

2. In Kalibr, (with link https://github.com/ethz-asl/kalibr/wiki/yaml-formats), it says the T_cam_imu represents the transformation from IMU to camera coordinates (T_c_i), however, the similar data in ruroc_config.yaml represents the Rotation from camera frame to imu frame, imu^R_cam. It is kind of confused.

Great thanks for any kind of information.

Thx