divergence when no ground truth

[bledem]

Hello,
First thank you for sharing this superb work with us. I have a problem concerning the initialization, it seems very important since it is the only thing which differs between the with ground truth ( asl_msckf node) and no ground truth version (asl_msckf_no_ground_truth node ) which both use the same model coded in msckf.h.
Unfortunately if I run for example
roslaunch msckf_mono asl_msckf_with_gt.launch stand_still_end:=1403636587663555584. data_set_path:="/home/ubuntu/catkin_ws/src/msckf_mono/euroc/MH_01_easy/mav0" stand_still_start:=1403636579763555584.

and

roslaunch msckf_mono asl_msckf_with_gt.launch stand_still_end:=1403636587663555584. data_set_path:="/home/ubuntu/catkin_ws/src/msckf_mono/euroc/MH_01_easy/mav0" stand_still_start:=1403636579763555584.

which used the same data but one with and one without the ground truth to initialize, we have on rviz vizualization the no ground truth position leaving to an infite position.
Do you have any explanation to this?
Thank you very much,