I calibrated based on kalibr, but rvio2 has a big drift. My configuration parameters rvio2_58.yaml below, can you help me check where the problem lies?

[lesliennz]

%YAML:1.0

#--------------------------------------------------------------------------------------------

IMU Parameters (cf. 58)

#--------------------------------------------------------------------------------------------

IMU data rate

IMU.dps: 200

IMU sensor noise

IMU.sigma_g: 0.0019250490698548347
IMU.sigma_wg: 5.258219591672193e-05
IMU.sigma_a: 0.021946568822591463
IMU.sigma_wa: 0.0013787020077809158

Gravity

IMU.nG: 9.8082

Threshold of small angle [rad] (<.1deg)

IMU.nSmallAngle: 0.00174532 # 1deg

#--------------------------------------------------------------------------------------------

Camera Parameters (cf. 58)

#--------------------------------------------------------------------------------------------

Camera frame rate

Camera.fps: 20

Camera image resolution

Camera.width: 640
Camera.height: 480

Is RGB or not

Camera.RGB: 0

Is fisheye or not

Camera.Fisheye: 0

Camera intrinsics

Camera.fx: 400.6798538723185
Camera.fy: 401.17969661719
Camera.cx: 325.052396494982
Camera.cy: 242.16659507711788

Camera.k1: -0.019768896293963896
Camera.k2: 0.04467074836702353
Camera.p1: 0.0005886099920784471
Camera.p2: 0.0003120740606703453

Camera image noise (1/f)

Camera.sigma_px: 0.002495758
Camera.sigma_py: 0.002492649

Camera extrinsics [B:IMU,C0:cam0]

Camera.T_BC0_GT: !!opencv-matrix # Ground truth
rows: 4
cols: 4
dt: d
data: [-0.01361327648182259, -0.9997886075430314, 0.015408404544151932, -0.01502152468951952,
0.007115876776559449, -0.015506310146258084, -0.9998544487290884, 0.009656748798960042,
0.999882014540281, -0.013501650744069893, 0.0073254642211180165, -0.03749352380309856,
0.0, 0.0, 0.0, 1.0]

Camera.T_BC0: !!opencv-matrix # Approximate
rows: 4
cols: 4
dt: d
data: [0.0, -1.0, 0.0, 0.0,
1.0, 0.0, 0.0, 0.0,
0.0, 0.0, 1.0, 0.0,
0.0, 0.0, 0.0, 1.0]

Time shift from camera to IMU [s] (t_imu=t_cam+offset)

Camera.nTimeOffset_GT: 0
Camera.nTimeOffset: 0

#--------------------------------------------------------------------------------------------

Initialization Parameters (tunable)

#--------------------------------------------------------------------------------------------

Skip the "wiggling" phase [s]

INI.nTimeskip: 0 # MH_01:40, MH_02:28, MH_03:15, MH_04:12, MH_05:15

Record the result or not

INI.RecordOutputs: 0

Use gravity alignment or not

INI.EnableAlignment: 1

Use ground truth for calibration or not

INI.UseGroundTruthCalib: 1

Thresholds for moving detection [deg,m]

INI.nAngleThrd: 0.3
INI.nLengthThrd: 0.01

#--------------------------------------------------------------------------------------------

Tracker Parameters (tunable)

#--------------------------------------------------------------------------------------------

Number of features per image

Tracker.nFeatures: 200

Min. tracking length

Tracker.nMinTrackingLength: 3

Max. tracking length

Tracker.nMaxTrackingLength: 15

Quality level of features

Tracker.nQualLvl: 1e-2

Min. distance between two features

Tracker.nMinDist: 15

Max. number of SLAM features (VIO:0, SLAM:50)

Tracker.nMaxSlamPoints: 0

Parallax of good feature [deg] (only for SLAM)

Tracker.nGoodParallax: 5

Block size of image grid

Tracker.nBlockSizeX: 150
Tracker.nBlockSizeY: 120

Use image filter or not

Tracker.EnableFilter: 0

Use histogram equalizer or not

Tracker.EnableEqualizer: 1

Number of iterations (RANSAC)

Tracker.nRansacIter: 16

Use Sampson error or not (RANSAC)

Tracker.UseSampson: 1

Error thresholds for inlier (RANSAC)

Tracker.nSampsonErrThrd: 1e-6
Tracker.nAlgebraicErrThrd: 1e-3

#--------------------------------------------------------------------------------------------

Displayer Parameters (tunable)

#--------------------------------------------------------------------------------------------

Display feature tracking

Displayer.ShowTrack: 1

Display feature redetection

Displayer.ShowNewer: 0

Size of point

Displayer.nLandmarkScale: 0.03

Publishing rate

Displayer.nLandmarkPubRate: 5