fixed the bug of checking if point is visible in the current image in DepthFilter::updateSeeds function

2015-07-08 06:16:47 -07:00
parent bd9b53358a
commit 56ae1884fa
1 changed files with 1 additions and 1 deletions
@@ -225,7 +225,7 @@ void DepthFilter::updateSeeds(FramePtr frame)
      ++it; // behind the camera
      continue;
    }
-    if(!it->ftr->frame->cam_->isInFrame(it->ftr->frame->f2c(xyz_f).cast<int>())) {
+    if(!frame->cam_->isInFrame(frame->f2c(xyz_f).cast<int>())) {
      ++it; // point does not project in image
      continue;
    }