From bcc2be6b6cde2dc59ce7576c5c99ae7567f4b7a6 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Tue, 19 Sep 2023 09:12:33 +0200
Subject: [PATCH] Call processKnown() without conditions in FIRST_TIME_WITH_KF
---
src/processor/processor_tracker.cpp | 3 +--
1 file changed, 1 insertion(+), 2 deletions(-)
diff --git a/src/processor/processor_tracker.cpp b/src/processor/processor_tracker.cpp
index 48c7cc51a..3fe8d24aa 100644
--- a/src/processor/processor_tracker.cpp
+++ b/src/processor/processor_tracker.cpp
@@ -103,8 +103,7 @@ void ProcessorTracker::processCapture(CaptureBasePtr _incoming_ptr)
// TrackerFeature: We only process new features in Last, here last = nullptr, so we do not have anything to do.
// TrackerLandmark: If we have been given a map, all landmarks in the map are known. Process them.
- if (not getProblem()->getMap()->getLandmarkList().empty())
- processKnown();
+ processKnown();
// Reset this
resetDerived();
--
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