Pallav Bhalla

Thanks @AlejandroSilvestri. Here's the [link](https://github.com/Martin20150405/SLAM_AR_Android) to an available github repo that I found.

Hi @jamestodo. I recently started working with ORB-SLAM2. I also found this particular section of code confusing. Were you able to figure it out? If yes, could you please share...

@BeatScherrer, I am facing the same issue. Any updates?

> IIRC the issue was feature correspondences as illustrated above. Try to visualize the matched features. This error is most likely due to something going terribly wrong due to these...

> Did you make sure your feature correspondences are reasonable? I explained why I received this error in the edit and therefore I would check if your environment is appropriate...

@BeatScherrer Thanks for the help.