Using Vins fusion with d435i

[bhaskar-glitch]

Hi @pjrambo @xuhao1 ,
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??