imuPreintegration instability

[Danielvd598]

Hi there, I am a bit confused regarding some reproducability issues with my own dataset.
Incidentally I can complete my dataset without any issues, and the result looks like this:

However, with the same settings I can also get results like:

With the warning: Large velocity, reset IMU-preintegration!

Hence, the instability does not always occur at the same time in the bag (see the pictures above). I checked my extrinsics, which seem to be correct.
Next to that, I use the OS-0 lidar with the PTP protocol, and checked my delay which which is about 0.14 seconds.
At first I though the issue was similar to #283 , but the fix mentioned by AlexReimann did not resolve the issue.

Anyways here is the bagfile:
https://drive.google.com/file/d/17tQ8qErCBqSgATalC6Hpg0uOCR4g0oRe/view?usp=sharing

If there is anybody who knows why this could happen, help is very welcome!

[Jilei-1996]

what compute platform do you use,？i think the problem may be caused by your compute device

[stale]

This issue has been automatically marked as stale because it has not had recent activity. It will be closed if no further activity occurs. Thank you for your contributions.

[joao-aguizo]

Was anyone following this topic able to solve this?