Trajectory jump change on stereo_inertial mode

[robin1987z]

I run my test data on stereo_inertial mode and get pose Tcw from TrackStereo function, then inverse it and publish for visualization in rviz, and I get a problem that when the program done the FullInertialBA function, the trajectory will have a jump change in rivz, but it looks okey in pangolin, Can anyone give some advice？

[makolele12]

This happens after the IMU initialized itself. As with the Accel and Gyro inputs it is possible to estimate the direction of gravity, the whole map is rotated accordingly.

To avoid it, multiply the pose Tcw by a rotation matrix (after the IMU initilization) such that the camera is oriented as you wish.