The stereo extrinsics not match

[Neoyning]

Hi There,

I am testing the dataset in visual-inertial configuration.

I notice that the stereo (RGB camera) extrinsics in extrinsics_1_2.txt (left to right camera extrinsics, since rgb is right camera folder, rgb2 is left camera folder,) is

0.99992078542709 0.012327036820352 -0.0025513120926917 -0.089849464595318
-0.012336664833128 0.99991673231125 -0.0037930572871119 -0.00026633776724339
0.0025043422356248 0.003824231447652 0.99998956918716 0.00043921792530455

However, in camera_imu_calib_radtan/results.txt, the stereo extrinsics is

Baseline (cam0 to cam1, left to right camera extrinsics):
[[ 0.9999885 0.00045301 -0.00477531 -0.08990597]
[-0.00043522 0.99999296 0.0037268 -0.00164377]
[ 0.00477697 -0.00372468 0.99998165 -0.00016215]
[ 0. 0. 0. 1. ]]

where,
cam0: /uvc_camera/cam_3/image_raw (rostopic of left RGB camera)
cam1: /uvc_camera/cam_2/image_raw (rostopic of right RGB camera)

It seems not match~