Complications running Rovio with Airsim

[MoBaT]

Hey!

I've been having a ton of issues trying to get Rovio to work accurately with Airsim. From the latest Airsim build, I'm using getImuData() to retrieve the IMU from Airsim and then sending that along with the images to Rovio. When trying to run Airsim with Rovio, I get deviations when I smoothly try to rotate and change my position.

What I did with the IMU coming out of Airsim was transform it exactly to how Eurocs dataset has it where gravity is on the X direction. By doing this, I can keep the imu_to_camera matrix the same as Eurocs.

Is there anything I'm missing in order to get this to work with Airsim?