From 33f7ef16ed4adddb4ade7aa27b31ba46aa9320ae Mon Sep 17 00:00:00 2001
From: lao bailaobai <bugaosuni@qq.com>
Date: Fri, 17 Feb 2023 23:59:55 +0800
Subject: [PATCH] update bug from Jason Gao

---
 src/LoopClosing.cc | 11 ++++++++---
 src/MapPoint.cc    |  3 ++-
 2 files changed, 10 insertions(+), 4 deletions(-)

diff --git a/src/LoopClosing.cc b/src/LoopClosing.cc
index ee101f8..3df41aa 100644
--- a/src/LoopClosing.cc
+++ b/src/LoopClosing.cc
@@ -1217,11 +1217,16 @@ int LoopClosing::FindMatchesByProjection(
                 {
                     spCheckKFs.insert(vpKFs[j]);
                     ++nInserted;
+
+                    // 改成这样
+                    vpCovKFm.push_back(vpKFs[j]);
                 }
                 ++j;
             }
+            // 这里是原来的代码，这么写不太合适，会出现重复
+            // 所以下面的插入可以改成放在if里面
             // 把每个帧的共视关键帧都加到窗口内
-            vpCovKFm.insert(vpCovKFm.end(), vpKFs.begin(), vpKFs.end());
+            // vpCovKFm.insert(vpCovKFm.end(), vpKFs.begin(), vpKFs.end());  // 已放上面
         }
     }
 
@@ -2274,8 +2279,8 @@ void LoopClosing::MergeLocal()
     // Essential graph 优化后可以重新开始局部建图了
     mpLocalMapper->Release();
 
-    // 全局的BA（永远不会执行）
-    // 这里没有imu, 所以isImuInitialized一定是false, 此时地图融合Atlas至少2个地图，所以第二个条件也一定是false
+    // 全局的BA，后面一串的判断都为true
+    // !pCurrentMap->isImuInitialized()一定是true
     // Step 9 全局BA
     if(bRelaunchBA && (!pCurrentMap->isImuInitialized() || (pCurrentMap->KeyFramesInMap()<200 && mpAtlas->CountMaps()==1)))
     {
diff --git a/src/MapPoint.cc b/src/MapPoint.cc
index 4b7f43c..9c1d87e 100644
--- a/src/MapPoint.cc
+++ b/src/MapPoint.cc
@@ -769,7 +769,8 @@ void MapPoint::PreSave(set<KeyFrame*>& spKF,set<MapPoint*>& spMP)
     mBackupObservationsId1.clear();
     mBackupObservationsId2.clear();
     // Save the id and position in each KF who view it
-    for(std::map<KeyFrame*,std::tuple<int,int> >::const_iterator it = mObservations.begin(), end = mObservations.end(); it != end; ++it)
+    for(std::map<KeyFrame*,std::tuple<int,int> >::const_iterator it = mObservations.begin(), 
+        end = mObservations.end(); it != end; ++it)
     {
         KeyFrame* pKFi = it->first;
         if(spKF.find(pKFi) != spKF.end())