TUM_VIE dataset parameters

[LauZanMo]

I'm running ESVO on TUM_VIE datasets. The initialization operates successfully with approximately 10000 points as return, but after initialization, the depth estimation seem to not work fine, as shown like this:

And the ESVO return a bad odometry result. I wonder if my parameters, which are similar to zurish city parameters in your project, are not tuned properly. I try to tune parameters for a long time but it still does not work. I can provide rosbag and h52bag generating code, any help would be appreciated. THX.