stanley zhou

@Clapton-Is-God Hi, the key message is "double free or corruption". I used to compile the project on Pi3 after adding an option in CMakelists.txt but i can't remember it now....

Thank you so much for sharing this! @fannief BTW, the lode process could be much faster if you merge this [binary vocabulary version](https://github.com/raulmur/ORB_SLAM2/pull/21). On my Pi3 it takes about 10...

If load binary vocabulary is slow, the cause maybe DBoW2's loadFromBinaryFile method in TemplatedVocabulary.h. You may notice one line: ` m_nodes.at(n_id).descriptor = cv::Mat(1, F::L, CV_8U);` which lies in a while...

@speleophysics Hi, did you get it working with Kinect2? I'm able to get the driver working and got both rgb and depth image with NiViewer2. But I got this following...

@JunshengFu No. But i believe there should be a solution.