I Use realsense R200.When i run ORB_SLAM2 ,the keyFrames are unstable.They jump around .

$roslaunch realsense_camera r200_nodelet_modify_params.launch 
$rosrun  rosrun ORB_SLAM2 RGBD Vocabulary/ORBvoc.txt Examples/RGB-D/TUM4.yaml

TUM4.yaml

%YAML:1.0

Camera.fx: 629.302552
Camera.fy: 635.529018 
Camera.cx: 330.766408
Camera.cy: 251.004731

Camera.k1: 0.128631
Camera.k2: -0.604829
Camera.p1: -0.000466
Camera.p2: 0.000742

Camera.fps: 30.0

Camera.RGB: 1

ORBextractor.nFeatures: 1000

ORBextractor.scaleFactor: 1.2

ORBextractor.nLevels: 8

ORBextractor.iniThFAST: 20
ORBextractor.minThFAST: 7  

Viewer.KeyFrameSize: 0.05

Viewer.KeyFrameLineWidth: 1

Viewer.GraphLineWidth: 0.9

Viewer.PointSize:2

Viewer.CameraSize: 0.08

Viewer.CameraLineWidth: 3

Viewer.ViewpointX: 0

Viewer.ViewpointY: -0.7

Viewer.ViewpointZ: -1.8

Viewer.ViewpointF: 500