How get rid of drift in SLAM using one Realsense D435 and two Realsense D405

[vladix35]

Hello everyone, I would be very grateful for your help. I try realize SLAM using one Realsense D435 and two Realsense D405. These cameras are sealed like one construction, which turns on left, then right. What can be done in this situation?


rtabmap_D405x3.py
realsense_slam.py

[matlabbe]

What can be done in this situation?

Do you have a more specific issue?

Are the three cameras all looking in the same direction? Do their FOVs overlap?