Monocular loses tracking, stereo works well.

[antithing]

Hi, thank you again for making this code public. In stereo mode, it all works great. In monocular mode, the initial map is created, (with reuse == 0) and tracking starts, but the system will not make any more points.

The 'matches' counter on the frame window starts high, then drops to zero and tracking is lost.

The same dataset works well in the original orbslam2. Stereo datasets work great, I only see this in mono.
Do you have any idea what could be causing this? Thanks!

[PWN0N]

Hey! Hope not too late to answer your issue, could you tell me more details about that error, 'cause I don't see that error before. I use a monocular camera as a system input but everything works fine. THX