Reproduce the mapping result in Fig.6d of your paper

[xpxie]

Thank you for your great work!

I use the "mid360.yaml" in your code and set "adaptive_cov_use" true. When tested with "dance.bag" , the odometry drift quickly and cannot reproduce the mapping result in Fig. 6d of your paper.

Could you tell me if "mid360.yaml" is the right config file for "dance.bag"?

[YWL0720]

Thank you for your interest in our work.To correctly reproduce the i2ekf-lo results on dance.bag, please set the initialization/cut_frame to true.