How to run with other camera model?

[Dangko]

Thanks for open sourcing your code!
I want to test x_vio on my own dataset, but I found that in param.yaml, only the distortion model of the fisheye camera is provided, and my camera is Realsense.
I tried to use the pinhole-fov model in kalibr for calibration, but an error occurred.
I would like to ask:

1. Is there an interface for other camera models in x_vio, such as pinhole-radtan？
2. If the source code needs to be modified, where do I need to add the camera model I require?
3. Do you have any other suggestions for my problem?
   Thank!