Xiaoyu Zhang

Maybe you could take this for reference. https://github.com/HXMap/MapQR/blob/main/docs/install.md#installed-packages-for-reference

Hi @jeremysalwen , I am glad to help. You mean those bugs fixed in my repo https://github.com/fishmarch/ORB_SLAM3_Fixed ? #### Sim3Solver Before Sim3Solver, the current keyframe ``mpCurrentKF`` is matched with the...

Yes, it is pKF2 in my repo. pKFi is the original codes.

Yes, agree with you. These similarity score can also be set to zero directly. It is hard to say which one is better, but setting to zeros can be faster...

``NewDetectCommonRegions`` is called in ``LoopClosing::Run()`` at: https://github.com/UZ-SLAMLab/ORB_SLAM3/blob/4452a3c4ab75b1cde34e5505a36ec3f9edcdc4c4/src/LoopClosing.cc#L112

Hi! You can set the save_map_path here, https://github.com/HXMap/HRMapNet/blob/197f3407e130ced435db40bff91954286d480ce2/projects/configs/hrmapnet/hrmapnet_maptrv2_nusc_r50_24ep.py#L76 and use this function to save the map when it is built well, https://github.com/HXMap/HRMapNet/blob/197f3407e130ced435db40bff91954286d480ce2/projects/mmdet3d_plugin/hrmap/global_map.py#L244

> 你好，采用分布式训练，你是如何在不同进程间更新同一个global_map的？在代码里没看到啊。 Hi, the global map in different GPUs are not shared or merged. I tried merging them, but the results were not better.