From 2db955d9e841a914707ef6b5d0fc8f6c488a556f Mon Sep 17 00:00:00 2001
From: Joan Sola <jsola@iri.upc.edu>
Date: Sat, 16 Apr 2022 23:23:59 +0200
Subject: [PATCH] Remove lost keypoints from the book/keepoing variable
---
src/processor/processor_visual_odometry.cpp | 9 +++++++--
1 file changed, 7 insertions(+), 2 deletions(-)
diff --git a/src/processor/processor_visual_odometry.cpp b/src/processor/processor_visual_odometry.cpp
index b0d02ec63..8a6dd8fdc 100644
--- a/src/processor/processor_visual_odometry.cpp
+++ b/src/processor/processor_visual_odometry.cpp
@@ -190,13 +190,18 @@ void ProcessorVisualOdometry::preProcess()
}
WOLF_INFO( "Retained " , tracks_last_incoming_filtered.size(), " inliers..." );
+ // Remove from mwkps_incoming all the keypoints that have not been tracked
+ // TODO: there might be a faster way than creating a new map from scratch?
+ KeyPointsMap mwkps_incoming_fitered;
+ for (auto track : tracks_last_incoming_filtered)
+ mwkps_incoming_fitered[track.second] = mwkps_incoming[track.second];
+
// Update captures
- capture_image_incoming_->addKeyPoints(mwkps_incoming);
+ capture_image_incoming_->addKeyPoints(mwkps_incoming_fitered);
capture_image_incoming_->setTracksPrev(tracks_last_incoming_filtered);
capture_image_incoming_->setTracksOrigin(tracks_origin_incoming);
- // Add valid
////////////////////////////////
// if too few tracks left in incoming
--
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