How can I get extrinsic parameters between camera and other sensors?

[Beniko95J]

Hi, I am trying to run VINS-Mono on airsim and I have posted an issue about the frame rate of getImuData(). I solved it by using a desktop computer and currently I can achieve a 20Hz image and 200Hz IMU readings.

Now I am wondering how to get (or set) the extrinsic parameters between camera and other sensors like IMU. I find that there are some parameters named "X", "Y", "Z", "Pitch", "Roll", "Yaw" in the setting file while I think the meaning of them is confused. Are they poses from camera to world or inverse, or other things like poses from camera to the center of the vehicle?

Thanks!

[Zartris]

Hi Beniko95j
I'm sitting in the same situation and wondering if you have solved it :)

[Beniko95J]

Hi, @Zartris
Haven't found a good solution, but maybe you can refer to the implementation in #2369.

Best