From c9f0b0662854f7ac445f61ac8471f66cfab9975d Mon Sep 17 00:00:00 2001
From: Mederic Fourmy <mederic.fourmy@gmail.com>
Date: Thu, 14 Apr 2022 18:00:08 +0200
Subject: [PATCH] little change in the the order of init of local variable
---
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 5db79afa9..d59fab98b 100644
--- a/src/processor/processor_visual_odometry.cpp
+++ b/src/processor/processor_visual_odometry.cpp
@@ -221,6 +221,7 @@ unsigned int ProcessorVisualOdometry::processKnown()
// Get tracks present at the last capture time (should be the most recent snapshot at this moment)
std::list<FeatureBasePtr> tracks_snapshot_last = track_matrix_.snapshotAsList(last_ptr_);
+ TracksMap tracks_map_li = capture_image_incoming_->getTracksPrev();
for (auto feature_tracked_last: tracks_snapshot_last){
// check if the keypoint in the last capture is in the last->incoming TracksMap stored in the incoming capture
FeaturePointImagePtr feat_pi_last = std::dynamic_pointer_cast<FeaturePointImage>(feature_tracked_last);
@@ -230,7 +231,7 @@ unsigned int ProcessorVisualOdometry::processKnown()
// otherwise we store the pair as a newly detected track (for processNew)
TracksMap tracks_map_li = capture_image_incoming_->getTracksPrev();
if (tracks_map_li.count(id_feat_last)){
- // std::cout << "A corresponding track has been found for id_feat_last " << id_feat_last << std::endl;
+ // WOLF_TRACE("A corresponding track has been found for id_feat_last ", id_feat_last );
auto kp_track_li = tracks_map_li.find(id_feat_last);
// create a feature using the corresponding WKeyPoint contained in incoming (hence the "second")
auto feat_inco = FeatureBase::emplace<FeaturePointImage>(
--
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