From d58b3b431acbd22b4a2c52f579a0207f5ee2129d Mon Sep 17 00:00:00 2001
From: Jeremie Deray <jeremie.deray@pal-robotics.com>
Date: Tue, 11 Jul 2017 12:35:19 +0200
Subject: [PATCH] fix corner 2D

---
 src/processor_tracker_landmark_corner.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/processor_tracker_landmark_corner.cpp b/src/processor_tracker_landmark_corner.cpp
index e0522989c..9c2d8fe94 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],
-- 
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