test in my own dataset

[Wanghy118]

hi, I test in my own dataset, but the drift is too big, I am so confused about the question that,
when I test other datasets, it is necessary to convert the frame? and what do I need to change, including datasets and code？
and i also noticed that, before the initialization succeeds, it shows "imu excitation not enough !" fives times, and "misalign visual structure with imu " 2 times, i wonder whether it matters.