What is reason for two extrinsic rotation?

[jojo89776]

First, I really appreciate your code! It is really good to understand recent lidar-based SLAM.

My question is, What is the reason for two extrinsic rotation? extrinsicRot and extrinsicRPY.
extrinsicRPY seems to be used for orientation, and transformed rotation is used in initialization.
Can we just use extrinsicRot (which used to transform imu info to lidar frame) for all process?

[TixiaoShan]

Here is the answer for it.
#6

[jojo89776]

Thanks. I'll close the issue