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xdspacelab / openvslam

OpenVSLAM: A Versatile Visual SLAM Framework
https://openvslam.readthedocs.io/
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We should check if keyfrm is NULL in one of the loop in global optimize? #499

Open Dung-ND opened 3 years ago

Dung-ND commented 3 years ago

Hi In this loop: https://github.com/xdspacelab/openvslam/blob/9eb280aa4aad6105450debf2c85fbfd477d811f5/src/openvslam/optimize/global_bundle_adjuster.cc#L141-L154

should we have if (!keyfrm) condition?