From 9ed4e1a240b99f925edcd3fa94f5a61a1b2c1989 Mon Sep 17 00:00:00 2001
From: Mederic Fourmy <mederic.fourmy@gmail.com>
Date: Wed, 8 Jun 2022 18:26:15 +0200
Subject: [PATCH] [skip-ci] put back naive landmark init for the moment
---
src/processor/processor_visual_odometry.cpp | 3 ++-
1 file changed, 2 insertions(+), 1 deletion(-)
diff --git a/src/processor/processor_visual_odometry.cpp b/src/processor/processor_visual_odometry.cpp
index e430256f3..ee2e4a3e6 100644
--- a/src/processor/processor_visual_odometry.cpp
+++ b/src/processor/processor_visual_odometry.cpp
@@ -349,7 +349,8 @@ void ProcessorVisualOdometry::establishFactors()
WOLF_INFO(" NEW valid track \\o/")
Track track_kf = track_matrix_.trackAtKeyframes(feat->trackId());
- LandmarkBasePtr lmk = emplaceLandmarkTriangulation(feat_pi, track_kf);
+ // LandmarkBasePtr lmk = emplaceLandmarkTriangulation(feat_pi, track_kf);
+ LandmarkBasePtr lmk = emplaceLandmarkNaive(feat_pi);
if (lmk == nullptr){
continue;
}
--
GitLab