Using d435i with vins fusion

[bhaskar-glitch]

hi @zinuok
I'm using vins fusion with my realsense d435i camera but I'm getting a problem regarding axis of d435i. In d4345i y is upward and z is forward by default.Now as y is upward and z is forward then the localisation data of vins is also getting wrong because while I'm moving my drone upward the value of -y is increasing and when moving forward the value of z is increasing..So now how i can fix this asix issue??
as there can be two solutions:-
i.)Fiz the by default axis of d435i as per our requirement (y-forward,z-upward)
ii.) Make the vins compatible on the default axis of d435i..
Can you please help how can we do that??

[zinuok]

Hello,
Does it mean that the y direction is reversed in the camera coordinate system? Or are you referring to the IMU coordinate system installed in the D435i?
If the latter is the case, I don't know because I have no experience with the D435i's IMU.

According to the default factory setting, y should be downward as in the normal camera coordinate system, like here and here (for this config file, I used the IR camera in D435i and external IMU)
So it's weird..

Did you calibrate the extrinsic parameter?

Or you can just reverse the y-axis' sign in extrinsic parameter in vins' config file.

[bhaskar-glitch]

Hello, Does it mean that the y direction is reversed in the camera coordinate system? Or are you referring to the IMU coordinate system installed in the D435i? If the latter is the case, I don't know because I have no experience with the D435i's IMU.

According to the default factory setting, y should be downward as in the normal camera coordinate system, like here and here (for this config file, I used the IR camera in D435i and external IMU) So it's weird..

Did you calibrate the extrinsic parameter?

Or you can just reverse the y-axis' sign in extrinsic parameter in vins' config file.

See the issue I'm facing right now is
I'm using vins with d435i camera and I'm using image of camera only not the imu of it because when we're enabling the imu the vins is getting extreme distorted,also we have done imu calibration perfectly and the calibration data is also perfect but i don't why it's getting distorted although vins is working great with image only so im using it for now.Now I'm facing an orientation problem in vins like in vins rviz the camera is in upward direction also when we move our drone upward the value of -y is increasing and when we are moving our drone forward the z is increasing..

[zinuok]

To comment your first problem,
IMU in D435i shows terrible performance in VIO. So I do not recommend to use that IMU

And for the second problem,
would you try to use the config file in the above (second) hyperlink in my comment? (D435i config file for vins)

it's weird that the camera direction is reverted (means that the transformation from camera->body->world frame is somehow wrong) even if you use the camera alone.

please try my config file and let me know it there is any difference.