feature lost when after TryInitVIO return true

[wangminhang]

I run this program in realtime with RealSense Camaro，when the function LocalMapping::TryInitVIO() returns true , all features lost and can't be catched.
How to solve this issue? Thank you！

Also in this function，sometimes the scale and depth is negative，why？

[jingpang]

Perhaps the image and imu messages are not well synchronized, so the initialization may get wrong result.

[Veerachart]

@wangminhang has you happened to get some solution to this?

I also got some similar problem, with scale values sometime positive sometime negative. If I am lucky, then positive value is obtained, but the tracking seems not working so well and I don't think the scale is correct. Most of the time I end up losing the track.