Get mistake in TUM fr3_walking sequence!

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Hello! Thank you for your open source! I benefited a lot from your excellent work!

However, when I use offline_runner.py to pre segment the sequence:TUM fr3_walking_xyz or fr3_walking_halfsphere, it's output mapping seems not as perfect as showed in vedio. You can see the pictures listed below : the system performs well at begining as in peciture 1, but in the mid of the sequence, some overlaps appear in the map, you can see 2 computers on desk in picture 2, I guess the moving person influences the RGBD odometery. How can I make it perform just like the vedio? Where i need to make some changes ? I am looking forward to your reply!!!!

Thank you again.
pic1:

pic2: