Nature

> By the way, the `verification server` gives the following messages: `I0616 22:56:46.952160 9376 TemplatedVocabulary.h:1480] /home/lixinyue/my_ws/src/ORB_SLAM2/orb_slam_2/Vocabulary/ORBvoc.txt.proto .proto F0616 22:58:53.050995 9376 load.h:43] Check failed: in.is_open() > > *** Check failure stack...

@MichaelJoker sorry to bother you, I have some problems. It seems that the error is a problem in the optimization process, it prompts that the assertion error occurs in 'readDecentrStateFromOptG2oFiles'...

> The problem is due to my change of parameter in orb yaml, as I just used only 100 features to be extracted (original should be 2000). I changed it...

I met the same problem, have you solved it? @awenbigprawn

I have a try but it doesn't work. I foud that the parameter of euroc is small to, but it doesn't meet this problem, this is the parameter of euroc:...