hi, about the coordinator of left camera

[ynma-hanvo]

hello , everyone, I am not sure how do i get the cam0 coordinator( orientation and position) with respect to world;
as the IMUState only got the coordinator for imu:
//================================================
// Orientation
// Take a vector from the world frame to
// the IMU (body) frame.
Eigen::Vector4d orientation;

// Position of the IMU (body) frame
// in the world frame.
Eigen::Vector3d position;
//===================================
suppose I have a fixed transformation for cam_to_imu as T_cam_imu (kalibr result);
how i can do it with eigen ？ thanks for you answer;

[ke-sun]

You could simply multiply the two frames,
T_world_lcam = T_world_imu * T_imu_lcam
T_world_imu is estimated by the software.
T_imu_lcam is in the calibration file.