Custom setup configuration

[korizona]

Dear @pvangoor,

Thank you very much for your code and contribution. I think it's a very thorough contribution to the SLAM community.

I have successfully run your code on the EuROC & UZHFPV dataset in my computer. Now, i wanted to use your code on my custom dataset which consists of Image and IMU coming from Realsense D435i and MTI-30 IMU, respectively. However, i ran into some problem because the result was not as what i expected since i thought the configurations are similar to EuROC. I understand that there would be extrinsic changes and i have adapted it accordingly.

Therefore, i want to ask, how did you determine the other configuration values such as initial variance, measurement noise, and etc? I would be grateful for your help and answer.

Cheers!