From 364ffadfb228769e7202ca7d4e4bd8aefa36efce Mon Sep 17 00:00:00 2001
From: cesardebeunne <debeunnecesar@gmail.com>
Date: Fri, 22 Apr 2022 16:33:16 +0200
Subject: [PATCH] Bug fix preprocess() part2
---
src/processor/processor_visual_odometry.cpp | 6 +++++-
1 file changed, 5 insertions(+), 1 deletion(-)
diff --git a/src/processor/processor_visual_odometry.cpp b/src/processor/processor_visual_odometry.cpp
index bef67520c..0be8e83c3 100644
--- a/src/processor/processor_visual_odometry.cpp
+++ b/src/processor/processor_visual_odometry.cpp
@@ -267,7 +267,7 @@ void ProcessorVisualOdometry::preProcess()
for (auto & cvkp : kps_last_new){
WKeyPoint wkp(cvkp);
mwkps_last_new[wkp.getId()] = wkp;
- }
+ }
WOLF_INFO("Detected ", mwkps_last_new.size(), " new keypoints in last");
TracksMap tracks_last_incoming_new = kltTrack(img_last, img_incoming, mwkps_last_new, mwkps_incoming_new);
@@ -294,6 +294,10 @@ void ProcessorVisualOdometry::preProcess()
// add a flag so that voteForKeyFrame use it to vote for a KeyFrame
capture_image_incoming_->setLastWasRepopulated(true);
+
+ // Update captures
+ capture_image_last_->addKeyPoints(mwkps_last_new);
+
}
else
{
--
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