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原问题链接如下 https://github.com/Livox-SDK/LIO-Livox/issues/21#issue-1128301604

if estimate_extrinsic =2 in config file, will it work like VINS mono or VINS fusion?

The same question is from here https://github.com/yanliang-wang/FAST_LIO_LC/issues/10#issue-1286805403