From fbd21e9ba5e7fa42cfd1b863d769b8e2ccae15f6 Mon Sep 17 00:00:00 2001
From: Mederic Fourmy <mederic.fourmy@gmail.com>
Date: Wed, 8 Jun 2022 18:33:17 +0200
Subject: [PATCH] [skip-ci] fix another bug introduced in RANSAC
---
src/processor/processor_visual_odometry.cpp | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/src/processor/processor_visual_odometry.cpp b/src/processor/processor_visual_odometry.cpp
index ee2e4a3e6..70b46d449 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;
--
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