AlejandroSilvestri

@aseyfi , I am working on the same problem. I believe you have to create your own custom edges, and perhaps create your own custom vertex.

> It compiles and runs, but crashes, see the stack trace in the repo above. Oddly it seems to be crashing with a SIGILL (illegal instruction) in C++ standard library...

Hi all, I want to share my opinion and some objective observations to enrich this very important debate, and as far as possible bring positions closer together to reach an...

@Bardo91 , you are right, mnFullBAIdx should be int and not bool. [bool mnFullBAIdx;](https://github.com/UZ-SLAMLab/ORB_SLAM3/blob/0df83dde1c85c7ab91a0d47de7a29685d046f637/include/LoopClosing.h#L226) should be unsigned int mnFullBAIdx; According to C++ standard, only `unsigned int` has [defined behaviour on...

@cyberbeat Submitting a pull request is usually the first step for the fix, but there isn't one yet.

I believe you are right, ORB-SLAM2 no longer uses this method.

@deeprun Hard to tell. There can be a lot of reasons. First, I noticed you are turning right, that can explain the need of more keyframes while you discover previously...

@M3000j 1. Improve your calibration, specially your distortion coefficients 2. Make a loop 3. Wait to automatic keyframe culling take place

Hi @Pallav1299 Many years ago I was wondering the same. Since I didn't write my thoughts then, I'll share here with you what I think is going on. Feel free...

Hi @Pallav1299 > If you want to detect more planes, you can repeat DetectPlane omitting the points associated with the already detected plane, and you'll get the second dominant plane,...