Initial Extrinsic in lidar2lidar

[sanemuytan]

Hi,

I used the manual calibration to get rotation and translation matrix to provide the initial extrinsic parameters for auto calibration. But they have different formats. From manual calibration tool, I got those matrices,

Extrinsic:
R:
0.00624072 0.989789 0.0279167
-0.98873 0.00483595 0.0280877
0.0273263 -0.0287523 0.988244
t: -0.0186175 0.732777 -1.74834
************* json format *************
Extrinsic:
[0.00624072,0.989789,0.0279167,-0.0186175],[-0.98873,0.00483595,0.0280877,0.732777],[0.0273263,-0.0287523,0.988244,-1.74834],[0,0,0,1]

To convert, I used the cite: https://www.andre-gaschler.com/rotationconverter/ then used the converted values in auto calibration. However, the results didn't come out as expected.
Andre-Gaschler result,

I multiplied those euler angles with 57.2958 to get the radian.

I converted those rotation matrix as below

device_id: 0
(Roll,Pitch,Yaw,tx,ty,tz): 0 0 0 0 0 0
device_id: 1
(Roll,Pitch,Yaw,tx,ty,tz): -1.629 1.645 -89.377 -0.0186175 0.732777 -1.74834

The result:

What could be wrong? Thank you!