diff --git a/CMakeLists.txt b/CMakeLists.txt
index c04dbf71d7..cb0358adc6 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -12,8 +12,8 @@ find_package(catkin REQUIRED COMPONENTS
     tf2_geometry_msgs
     tf2_ros
     geometry_msgs
-    # for closed-loop evaluation only
-    trajectory_state_predictor
+    # for closed-loop evaluation of Good Graph only
+    # trajectory_state_predictor
 )
 
 message("ROS version = " $ENV{ROS_DISTRO})
diff --git a/Examples/ROS/GF_ORB_SLAM2/Mono b/Examples/ROS/GF_ORB_SLAM2/Mono
index 16fa2d11ea..c51bba12c3 100755
Binary files a/Examples/ROS/GF_ORB_SLAM2/Mono and b/Examples/ROS/GF_ORB_SLAM2/Mono differ
diff --git a/Examples/ROS/GF_ORB_SLAM2/RGBD b/Examples/ROS/GF_ORB_SLAM2/RGBD
index 868e9f5677..1d03aa6e8c 100755
Binary files a/Examples/ROS/GF_ORB_SLAM2/RGBD and b/Examples/ROS/GF_ORB_SLAM2/RGBD differ
diff --git a/Examples/ROS/GF_ORB_SLAM2/Stereo b/Examples/ROS/GF_ORB_SLAM2/Stereo
index 78fc6065b1..579b7a17c9 100755
Binary files a/Examples/ROS/GF_ORB_SLAM2/Stereo and b/Examples/ROS/GF_ORB_SLAM2/Stereo differ
diff --git a/build_dep.sh b/build_dep.sh
index ecb71e45e1..d2ef242a57 100755
--- a/build_dep.sh
+++ b/build_dep.sh
@@ -87,3 +87,5 @@ sudo cmake ..
 sudo make -j4
 sudo cp libgtest.a ../
 
+# last, install gflags
+sudo apt install libgflags-dev
\ No newline at end of file
diff --git a/src/Frame.cc b/src/Frame.cc
index 4ced656501..02ca4e4d49 100755
--- a/src/Frame.cc
+++ b/src/Frame.cc
@@ -214,7 +214,7 @@ Frame::Frame(const cv::Mat &imLeft, const cv::Mat &imRight, const double &timeSt
 
     mvbOutlier = vector<bool>(N, false);
     mvbCandidate = vector<bool>(N, true);
-    mvbJacobBuilt = vector<bool>(N, false);
+   // mvbJacobBuilt = vector<bool>(N, false);
     mvbGoodFeature = vector<bool>(N, false);
     //
     mvpMatchScore = vector<int>(N, static_cast<int>(999));
diff --git a/test/testObs b/test/testObs
index d47ad921d0..0fb8b3a3cd 100755
Binary files a/test/testObs and b/test/testObs differ
diff --git a/tools/bin_vocabulary b/tools/bin_vocabulary
index 2d5a44be63..647dc4982d 100755
Binary files a/tools/bin_vocabulary and b/tools/bin_vocabulary differ