Issues

• From 2026-10-22: full repository review with Claude at max effort (ultrareview) - bugs, optimisations, developments, improvements

  enhancement
  alejandrofontan/AllFeature-VSLAM#64 · Filter by author alejandrofontan opened on Oct 16, 2026

• LiDAR RGB-D: tracking degrades close to objects - sensor range, depth path, this host's depth weighting, or the images (compare mono)?

  bug
  alejandrofontan/AllFeature-VSLAM#63 · Filter by author alejandrofontan opened on Oct 16, 2026

• iPhone calibration with COLMAP: record a calibration sequence and derive calibration.yaml (focal, principal point, distortion) for the phone's sequences

  enhancement
  alejandrofontan/AllFeature-VSLAM#62 · Filter by author alejandrofontan opened on Oct 16, 2026

• LocalMapping: the five concurrent LightGlue runs serialise on the GPU and queue ahead of the tracking match (440/1180 frames > 150 ms)

  enhancement
  alejandrofontan/AllFeature-VSLAM#61 · Filter by author alejandrofontan opened on Oct 16, 2026

• Per-session OrtSession run statistics (count / median / p95 / max) printed at Shutdown

  enhancement
  alejandrofontan/AllFeature-VSLAM#60 · Filter by author alejandrofontan opened on Oct 16, 2026

• Core ML: creating a padded LightGlue session takes 9-10 s with the compiled model cached

  bug
  alejandrofontan/AllFeature-VSLAM#59 · Filter by author alejandrofontan opened on Oct 16, 2026

• Tracking runs a padded LightGlue match on every frame: 48-52 ms Track Ref on the Mac (11 ms with ORB)

  enhancement
  alejandrofontan/AllFeature-VSLAM#58 · Filter by author alejandrofontan opened on Oct 16, 2026

• ALIKED receives the BGR image as RGB

  bug
  alejandrofontan/AllFeature-VSLAM#57 · Filter by author alejandrofontan opened on Oct 16, 2026

• sift128 is matched with the ALIKED LightGlue weights and zeroed scale/orientation

  bug
  alejandrofontan/AllFeature-VSLAM#56 · Filter by author alejandrofontan opened on Oct 16, 2026

• SuperPoint-LightGlue normalises keypoints with the config's 320x240 instead of the image size

  bug
  alejandrofontan/AllFeature-VSLAM#55 · Filter by author alejandrofontan opened on Oct 16, 2026

• get_feature_type terminates silently on an unknown feature name

  alejandrofontan/AllFeature-VSLAM#49 · Filter by author alejandrofontan opened on Oct 15, 2026

• Move the RTMP video input into the ARStream relay so Larix streams reach every subscriber

  alejandrofontan/AllFeature-VSLAM#48 · Filter by author alejandrofontan opened on Oct 15, 2026

• Viewer on: segfault in pangolin::GlFont::~GlFont during static destruction at process exit

  bug
  alejandrofontan/AllFeature-VSLAM#42 · Filter by author alejandrofontan opened on Oct 12, 2026
  1

• Migrate to conda-forge TensorRT 11.1: strongly typed engines (kFP16 removed)

  enhancement
  alejandrofontan/AllFeature-VSLAM#41 · Filter by author alejandrofontan opened on Oct 10, 2026

• Cleanup findings from the 2026-09-19 reference-documentation pass (System, Viewer, LocalMapping)

  enhancement
  alejandrofontan/AllFeature-VSLAM#39 · Filter by author alejandrofontan opened on Sep 19, 2026
  1

• Module header docstrings: bring every source file to the Author/Version/Created/Updated style

  enhancement
  alejandrofontan/AllFeature-VSLAM#38 · Filter by author alejandrofontan opened on Sep 19, 2026

• FrameDrawer::exp_folder is a dead static global set from the CLI entry points

  enhancement
  alejandrofontan/AllFeature-VSLAM#37 · Filter by author alejandrofontan opened on Sep 19, 2026

• Tracking: last_frame_ is only assigned during initialization, so check_replaced_in_last_frame and median_flow_from_last_frame read a frozen frame

  bug
  alejandrofontan/AllFeature-VSLAM#36 · Filter by author alejandrofontan opened on Sep 18, 2026
  1

• LoopClosing: mnFullBAIdx is a bool, so the aborted-GBA generation check fails from the second loop closure on

  bug
  alejandrofontan/AllFeature-VSLAM#35 · Filter by author alejandrofontan opened on Sep 6, 2026

• Settings: trailing YAML comment is read into LocalMapping.KeyframeCullingScope ("map # marginalise ...")

  bug
  alejandrofontan/AllFeature-VSLAM#34 · Filter by author alejandrofontan opened on Sep 3, 2026

• Style/cleanup pass: Frame / KeyFrame / MapPoint members (issue #15 sequel)

  enhancement
  alejandrofontan/AllFeature-VSLAM#32 · Filter by author alejandrofontan opened on Aug 31, 2026
  2

• Frame::get_overlap: expensive per-frame mask rendering and stale projections

  enhancement
  alejandrofontan/AllFeature-VSLAM#30 · Filter by author alejandrofontan opened on Aug 31, 2026

• cv::FileStorage swallows inline YAML comments into string setting values

  bug
  alejandrofontan/AllFeature-VSLAM#28 · Filter by author alejandrofontan opened on Aug 31, 2026

• Reduce the number of parameter heuristics (fewer knobs, more derived/self-normalizing behavior)

  enhancement
  alejandrofontan/AllFeature-VSLAM#27 · Filter by author alejandrofontan opened on Aug 31, 2026

• Depth priors from Depth Anything for monocular runs

  enhancement
  alejandrofontan/AllFeature-VSLAM#26 · Filter by author alejandrofontan opened on Aug 31, 2026