BUFFER_SIZE not large enough about dpvo HOT 2 CLOSED

For reference the paper mentions this:

We connect each patch to every frame within distance r
from the frame index the patch was extracted. This means
that when a new patch is added, we add edges between that
patch and the previous r keyframes. When a new frame is
added, we add edges between each patch extracted in the
last r keyframes with the new frame.

It seems unclear whether new patches are connected to the last r keyframes, or connected to keyframes within distance r of the current frame. Regardless my bug just seems to be related to having too long of a video and having a number of keyframes that exceeds the buffer size allocated.

from dpvo.

It seems unclear whether new patches are connected to the last r keyframes, or connected to keyframes within distance r of the current frame.

Every incoming frame is treated as a keyframe, so in the case of DPVO these are the same

from dpvo.