Interpreting results from IMU-CAM calibration

[TL-4319]

Thank you for such a great tool. I am performing calibration for my system which includes synchronized cameras and 2 IMUs. I have performed the multi-cam calibration and am now attempting the IMU-CAM calibration which yield these following results and I would like to get some idea on where to begin diagnosing them. Attached is the screenshot of the reprojection error which is not typical from what I have seen from online tutorial and would like to learn what might have caused it.

I am also including a link to all the bag file, yam, and calibration results for kalibr below

https://alabama.box.com/s/732mmgozsjnyzvw72g9qwaz1gdwvbmpq

Thank you in advance