set submap-extent but error result occurred

[kingskymoon]

Hello, I modify default.xml and set "submap-extent" to 100.0 (default is 10.0)

<param name="submap-dimension" type="integer">4</param>
<param name="submap-extent" type="float">100.0</param>
<param name="partial-extraction" type="boolean">true</param>
<param name="history size" type="integer">500</param>
<param name="history stride" type="integer">1</param>

but the semantic result get worse at seq 08 and frame 905 , but before is right , i dont know the reason. （seq 00 is the same , when the sequence length is long, segmentation errors may occur after a period of time, leading to inaccurate odometry.）

1. Before modification, it was normal to display the local semantic map.

• After the modification, there was no segmentation result when running around 905 frames, and the trajectory changed afterwards. But if I start running from frame 905, the segmentation at frame 905 is normal, it looks like there is an issue with the memory, but I see that the memory usage is normal.

Can you help me, thanks!