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Potential Bug in UpdateLastFrame() #24

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Ryan-Red opened this issue Jun 27, 2022 · 1 comment
Open

Potential Bug in UpdateLastFrame() #24

Ryan-Red opened this issue Jun 27, 2022 · 1 comment
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bug Something isn't working detective work More research required

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@Ryan-Red
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See UZ-SLAMLab/ORB_SLAM3#271 for potential fix.

@Ryan-Red Ryan-Red added bug Something isn't working detective work More research required labels Jun 27, 2022
@ethanseq
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ethanseq commented Jul 4, 2022

It seems that this issue was looked at 6 months ago. https://github.com/UZ-SLAMLab/ORB_SLAM3/blob/4452a3c4ab75b1cde34e5505a36ec3f9edcdc4c4/src/Tracking.cc#L2794.
Nfeat is either mLastFrame.N or mLastFrame.Nleft depending on if mLastFrame.Nleft == -1.

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