The scale of the odometry

[ouguangjun]

I try to test SchurVins on dataset, the partial results of Vinsfusion and SchurVins are shown below:

The result appears to be a stable and smoother run by schurvin, but the scale of the odometry seems to be much larger than the ground truth. I only modified the Topic, intrinsic and external parameters of the sensor, and the parameters of the algorithm were not adjusted.