runs great for a while, then goes crazy

Hi, and thanks for making this code available. I am running it on a pcap file from a Velodyne scanner, and it will run very well for the first 300 frames or so.

Then, the map 'clips', and the odometry spirals, giving me a very incorrect result. Please see the images below to show what I mean. What can I look at to fix this?

Thanks again!