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?

%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


Uh oh!

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? #11

Description

IMU Parameters (cf. 58)

IMU data rate

IMU sensor noise

Gravity

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

Camera Parameters (cf. 58)

Camera frame rate

Camera image resolution

Is RGB or not

Is fisheye or not

Camera intrinsics

Camera image noise (1/f)

Camera extrinsics [B:IMU,C0:cam0]

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

Initialization Parameters (tunable)

Skip the "wiggling" phase [s]

Record the result or not

Use gravity alignment or not

Use ground truth for calibration or not

Thresholds for moving detection [deg,m]

Tracker Parameters (tunable)

Number of features per image

Min. tracking length

Max. tracking length

Quality level of features

Min. distance between two features

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

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

Block size of image grid

Use image filter or not

Use histogram equalizer or not

Number of iterations (RANSAC)

Use Sampson error or not (RANSAC)

Error thresholds for inlier (RANSAC)

Displayer Parameters (tunable)

Display feature tracking

Display feature redetection

Size of point

Publishing rate

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