Wrong estimate when using my data

[xinchen0528]

Hi @rsasaki0109 , It is an amazing job. Thanks for sharing this package. I am successfully run your demo with openvslam in kitti data. When I change to my data, it seems wrong. I think maybe it is the tf's problem. Can you kindly point out how to prepare the .pcd and .bag?

My equipment:
Lidar : Velodyne 16
Camera : usb camera monocular

My data:
Lidar : lego-loam /laser_cloud_surround pcl_ros bag_to_pcd
Camera : usb_cam /usbcam/image_raw