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Frame::mnId is being repeated while mapping on loaded map (Frame::nNextId is not updated) #12

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mmajewsk opened this issue Jul 19, 2019 · 1 comment · May be fixed by #13
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Frame::mnId is being repeated while mapping on loaded map (Frame::nNextId is not updated) #12

mmajewsk opened this issue Jul 19, 2019 · 1 comment · May be fixed by #13

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@mmajewsk
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So the KeyFrame::mnId is updated, but Frame::mnId may repeat in new frames.
I suggest updating Frame::nNextId same way as here https://github.com/AlejandroSilvestri/osmap/blob/master/src/Osmap.cpp#L595
mmajewsk added a commit to mmajewsk/osmap that referenced this issue Jul 19, 2019
@mmajewsk
fix AlejandroSilvestri#12 - missing frame id update
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@mmajewsk mmajewsk mentioned this issue Jul 19, 2019
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@AlejandroSilvestri
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@mmajewsk

Thank you. You are right.

Frame::mnId has no use in ORB-SLAM2, so it doesn't affect functionality, but anyone who are actually using Frame::mnId for a specific reason with modified code should apply this patch.

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Some updates from mmajewsk mmajewsk/osmap
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@mmajewsk @AlejandroSilvestri