error occurred when parse camera parameters

[yueyunqingwu]

Hi Alessandro, thank you for your great work! When parse camera parameters, an error occurs. The type of extrinsics_mat is Eigen::Matrix, while extrinsics is SE3, when extrinsics_mat assigns to extrinsics, raise an error, terminate called after throwing an instance of 'std::invalid_argument' what(): SO3: QuaternionType has to be normalized!, how can i fix it? My extrinsic of camera is T_imu_cam:

• [-0.06171486, 0.0726234, 0.99541608, 0.96885831]
• [-0.99809154, -0.00647916, -0.06140622, -0.16231786]
• [0.00199083, -0.99733858, 0.07288502, -0.47493288]
• [0.0, 0.0, 0.0, 1.0] Looking forward your replay.