Call processKnown() without conditions in FIRST_TIME_WITH_KF

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();