The problem of running upenn dataset

[Effun-141]

First of all, thank you for your open-source work!

I encountered an issue while running esvo2. Except for the dsec dataset which runs normally, all other datasets fail to run properly. Taking **upenn'**s indoor_flying1_data_edited.bag as an example, when running esvo2_core system_upenn.launch, it keeps reporting:

esvo2_Mapping.cpp:578] 107********** Initialization (SGM) returns 18 points.

And subsequently shows:

resetRegProblem RESET fails for no enough point cloud in the local map.
numerical unstable in preintegration

The trajectory displayed in rviz is completely chaotic and eventually crashes. What could be causing this issue? How should it be resolved? Is it a parameter configuration problem? If so, which parameters should be adjusted? Thanks~

[Effun-141]

By the way, I run the rosbag at the speed of 0.1, it still can not work properly and show the same problems