Runing by d435i

[LOUYWEI]

I have some questions:

camera:  D435i
speed:    30-40km/h by car

I have been trying to use Larvio to locate the bag data recorded by d435i recently. The recording process was carried out on a car with a speed of 30-40km/h. I found that the trajectory would drift significantly back and forth, even left and right, when turning or waiting for red street lights. However, when using the hardware parameters provided in the code and the Euroc dataset for testing, I feel that even if there is a rotation trajectory, there will be no abnormalities. What is the reason for this? Is it because my camera's internal and external parameter calibration is not accurate enough?