Some mismatch problem on odom and camera_link

[HB-Liang]

Hello, I am using realsense D455 camera on this program recently. The vio process seems work fine, but when I want to use the odom in Hydra, I found the semantic pointcloud did not show correctly as expect. There is something wrong as shown in the picture. The fixed frame in RViz was "map". It seems the pointcloud is aligned to camera_link, but the odom is aligned to another frame.

I don't know what problem is it, would you please provide some advise?
THANKS

Update1:
It seems to be some parameter problem about the camera, I use cam_info_yamlizer and solve part of the problem in my use case. But the odom is still not aligned as expect, which is shown in RViz below.