diff --git a/src/processor_tracker_landmark_corner.cpp b/src/processor_tracker_landmark_corner.cpp index e0522989cbb1f55a114c99bd854c8d54e296ca7a..9c2d8fe94b082b0a11ac68e79d87de442cc4a3ac 100644 --- a/src/processor_tracker_landmark_corner.cpp +++ b/src/processor_tracker_landmark_corner.cpp @@ -64,7 +64,7 @@ unsigned int ProcessorTrackerLandmarkCorner::findLandmarks(const LandmarkBaseLis Scalar closest_dm2 = 1e3; for (auto landmark_it = not_matched_landmarks.begin(); landmark_it != not_matched_landmarks.end(); landmark_it++) { - if ((*landmark_it)->getType() == "CORNER" && + if ((*landmark_it)->getType() == "CORNER 2D" && fabs(pi2pi((std::static_pointer_cast<FeatureCorner2D>(*feature_it))->getAperture() - (*landmark_it)->getDescriptor(0))) < aperture_error_th_) { dm2 = computeSquaredMahalanobisDistances((*feature_it), expected_features[*landmark_it],