Alex

@craymichael God bless you!

@RyanMiao11 To save all the poses for monocular SLAM, you should do two things: 1) use SaveTrajectoryKITTI in the example file instead of SaveKeyFrameTrajectoryTUM 2) Remove these lines: ``` if(mSensor==MONOCULAR)...

@Fredrum it is totally necessary for the slam to match features robustly. It performs keypoint culling and distribute all the useful keypoints uniformly among all the image. You can try...

@Fredrum 1) How many cores / hardware threads does your device have? There are 3 basic threads in the ORB-SLAM2: Local Mapping, Loop Closer + Main thread (tracking). For visualization...

++ Is there someone writing the bindings? I can contribute

> NOTE: Issue is the same as the previous ones, but the solution was unrelated to mine. > > OS: Ubuntu 14.04 > OpenCV: 2.4.8 > All dependencies installed successfully...