Running with my own device(Realsense d435 + Auvidea J120's mpu9250) drift.

[jackyfriend]

@qintonguav @shaozu @pjrambo Hello, I run vins-fusion on Jetson TX2 with camera Realsense d435 and an IMU of mpu9250 on the J120 board, but encounter very large drift, I have no ideas of how to do now. Should I calibrate the camera and imu according to this websit , and not using estimate_extrinsic: 2? Please give me some advise. Thank you so much!

rosrun vins vins_node ~/work/catkin_fusion/src/VINS-Fusion/config/d435_mpu9250/d435_mono_imu_config.yaml

The d435_mono_imu_config.yaml is as follow:

IMU is using rtimulib:

And the drifting image is:

[LuciousZhang]

According to my experience, you'd better calibrate the device yourself (I use imu_utils and kalibr). Not using estimate_extrinsic should input 0 instead of 2.

[cherishyourself]

请问 解决了吗

[cherishyourself]

Excuse me, have you solved it