Yi Liu comments

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                                            Yi Liu

dimension misamatch in fut_traj[:fut_traj_scence_centric.shape[0], :] = fut_traj_scence_centric when getting future trajectory info

the value of the fut_traj_local is ``` array([[ 0.00000000e+00, 0.00000000e+00], [ 0.00000000e+00, 0.00000000e+00], [ 0.00000000e+00, 0.00000000e+00], [ 0.00000000e+00, 0.00000000e+00], [-3.86562523e-02, -2.90808211e-02], [-3.86562523e-02, -2.90808211e-02], [-1.20419962e-01, -1.22078928e-02], [-1.95717329e-01, -6.61265921e-03], [-3.00412895e-01, 3.03866304e-04], [-3.73306838e-01,...

Fail to track local map!

> hi,wo meet same question,I solve it by improve the number of ORBextractor.nFeatures: 2000.And next ,I try the pyramid extraction as same as sp-slam. in the end ,I find xfeat...

Fail to track local map!

> 我把我修改的部分放在我的github仓库里了，你可以看一下，如果有问题可以加我qq2876938598交流一下，清备注. > > https://github.com/schwert26/Xslam Thanks!