Can you please provide the extrinsic information between VI-sensor and Handsfree IMU?

[h-k8888]

and the extrinsic information between VI-sensor and LiDAR,
Thanks.

[h-k8888]

I test VINS-MONO noloop using Cam-pinhole-color realsense d435i with Handsfree IMU, the ape is worse than Cam-pinhole-color realsense d435i with buildin IMU, do you know why?

[lhthq]

I ALSO meet this problem. I guess this extrinsic is not accurate. What do u think of it?

[sjtuyinjie]

The coordination frame of VI-sensor is that x points to right, y points to down, z points to front. While the coordination frame of Handsfree is that x points to left, y points to front, z points to up.