Landmarks far above/below graph

[PerrineAguiar]

Hi
I tried running ROVIOLI on a rosbag containing raw fisheye images and raw IMU data from a Lenovo phone. The fisheye camera and IMU are calibrated.
Here is the VI map I got:

• View from top
  

• View from side
  

I am wondering if having landmarks far above/below the graph is expected, or if it can be an issue. I would expect landmarks to be in a band of around 3 meters (height of the building) while here it is more something like 8 meters.
If it is an issue, can this be avoided by tweaking some rovioli parameters or does it indicate that there is something wrong with my calibration file?

Note:

• I am using the Release Candidate March 2018
• VIO performs well

Many thanks in advance!

[PerrineAguiar]

I don't know yet what, but I guess something was wrong with the calibration file I was using. Using Kalibr to calibrate the device solved the issue.