diff --git a/src/processor/processor_visual_odometry.cpp b/src/processor/processor_visual_odometry.cpp index ee2e4a3e6e6d92a0ec3562e9fd24e58d2d347f99..70b46d44968869e60a2004102f6c65cbddf448f2 100644 --- a/src/processor/processor_visual_odometry.cpp +++ b/src/processor/processor_visual_odometry.cpp @@ -672,7 +672,7 @@ bool ProcessorVisualOdometry::filterWithEssential(const KeyPointsMap _mwkps_prev // use pixels p2d_prev.push_back(_mwkps_prev.at(track.first).getCvPoint()); - p2d_curr.push_back(_mwkps_curr.at(track.first).getCvPoint()); + p2d_curr.push_back(_mwkps_curr.at(track.second).getCvPoint()); } cv::Mat cvMask;