About big scane

[szgy66]

Hi, Thank you for your great work firstly. I can run the example of your project very well. I want to extend your project to my own scenario, I did not collect data like short guide you provided, I wandered around the larger scene of the office making videos. Follow your guide to get the relevant truth files and then run the project. But I got bad results. So I have two questions:

1. The project provides examples of the data set that are only forward-facing or 360 degrees, without relevant big scenes, so whether the project does not support big scenes.
2. If large scenarios can be supported, do my relevant config files need to be changed.
   Thanks！Looking forward to your reply.