New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

The bug in the code within the Optimizer::FullInertialBA function #902

Open

zhangchao-nreal opened this issue May 31, 2024 · 1 comment

zhangchao-nreal commented May 31, 2024

https://github.com/UZ-SLAMLab/ORB_SLAM3/blob/4452a3c4ab75b1cde34e5505a36ec3f9edcdc4c4/src/Optimizer.cc#L684C19-L684C83
The rightIndex is the actual index plus mvKeysRight.size(), so the condition rightIndex < pKFi->mvKeysRight.size() can never be satisfied. This will result in the right camera constraints not being added.

jeremysalwen commented Jul 27, 2024

Why do you say that the right index is the actual index plus mvKeysRight.size()?

Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment