From dc67332cb3703a1a4c049d48cfd189db65fbbcd8 Mon Sep 17 00:00:00 2001
From: Okan Barut <26722429+YumaTheCompanion@users.noreply.github.com>
Date: Fri, 9 Aug 2019 10:42:10 +0300
Subject: [PATCH 1/3] Updated README.md

I had difficulty the first time I tried to use the KITTIx executables. Better to mark them inside a `codeblock`
---
 README.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/README.md b/README.md
index acf42ee7e0..3d026ff4bf 100644
--- a/README.md
+++ b/README.md
@@ -107,7 +107,7 @@ This will create **libORB_SLAM2.so**  at *lib* folder and the executables **mono
 
 1. Download the dataset (grayscale images) from http://www.cvlibs.net/datasets/kitti/eval_odometry.php 
 
-2. Execute the following command. Change `KITTIX.yaml`by KITTI00-02.yaml, KITTI03.yaml or KITTI04-12.yaml for sequence 0 to 2, 3, and 4 to 12 respectively. Change `PATH_TO_DATASET_FOLDER` to the uncompressed dataset folder. Change `SEQUENCE_NUMBER` to 00, 01, 02,.., 11. 
+2. Execute the following command. Change `KITTIX.yaml`by `KITTI00-02.yaml`, `KITTI03.yaml` or `KITTI04-12.yaml` for sequence 0 to 2, 3, and 4 to 12 respectively. Change `PATH_TO_DATASET_FOLDER` to the uncompressed dataset folder. Change `SEQUENCE_NUMBER` to 00, 01, 02,.., 11. 
 ```
 ./Examples/Monocular/mono_kitti Vocabulary/ORBvoc.txt Examples/Monocular/KITTIX.yaml PATH_TO_DATASET_FOLDER/dataset/sequences/SEQUENCE_NUMBER
 ```

From 64767ecd4590f771a4a3c739b7a504819f75247c Mon Sep 17 00:00:00 2001
From: Okan Barut <26722429+YumaTheCompanion@users.noreply.github.com>
Date: Tue, 3 Sep 2019 15:44:24 +0300
Subject: [PATCH 2/3] Added image check for right camera stereo images

The image load sequence was not being checked for the right camera. Added a check accordingly.
---
 Examples/Stereo/stereo_kitti.cc | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/Examples/Stereo/stereo_kitti.cc b/Examples/Stereo/stereo_kitti.cc
index cb8bc4096e..07dc53eac7 100644
--- a/Examples/Stereo/stereo_kitti.cc
+++ b/Examples/Stereo/stereo_kitti.cc
@@ -75,6 +75,12 @@ int main(int argc, char **argv)
             cerr << endl << "Failed to load image at: "
                  << string(vstrImageLeft[ni]) << endl;
             return 1;
+        } 
+        else if(imRight.empty())
+        {
+            cerr << endl << "Failed to load image at: "
+                 << string(vstrImageRight[ni]) << endl;
+            return 1;
         }
 
 #ifdef COMPILEDWITHC11

From c176780226d600c8649ed0ff5e229c750a221c61 Mon Sep 17 00:00:00 2001
From: Okan Barut <26722429+YumaTheCompanion@users.noreply.github.com>
Date: Mon, 16 Sep 2019 15:28:52 +0300
Subject: [PATCH 3/3] Fixed a segmentation fault

---
 src/Tracking.cc | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/src/Tracking.cc b/src/Tracking.cc
index 2273b2ce48..6505540d0d 100644
--- a/src/Tracking.cc
+++ b/src/Tracking.cc
@@ -539,11 +539,7 @@ void Tracking::StereoInitialization()
 
         cout << "New map created with " << mpMap->MapPointsInMap() << " points" << endl;
 
-        mpLocalMapper->InsertKeyFrame(pKFini);
-
-        mLastFrame = Frame(mCurrentFrame);
-        mnLastKeyFrameId=mCurrentFrame.mnId;
-        mpLastKeyFrame = pKFini;
+        mpLocalMapper->InsertKeyFrame(pKFini);        
 
         mvpLocalKeyFrames.push_back(pKFini);
         mvpLocalMapPoints=mpMap->GetAllMapPoints();
@@ -555,6 +551,10 @@ void Tracking::StereoInitialization()
         mpMap->mvpKeyFrameOrigins.push_back(pKFini);
 
         mpMapDrawer->SetCurrentCameraPose(mCurrentFrame.mTcw);
+        
+        mLastFrame = Frame(mCurrentFrame);
+        mnLastKeyFrameId=mCurrentFrame.mnId;
+        mpLastKeyFrame = pKFini;
 
         mState=OK;
     }