From 56ae1884faa75697f204236ac67ea83cd69b2d37 Mon Sep 17 00:00:00 2001
From: MengwenTan <810684547@qq.com>
Date: Wed, 8 Jul 2015 06:16:47 -0700
Subject: [PATCH] fixed the bug of checking if point is visible in the current
 image in DepthFilter::updateSeeds function

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

diff --git a/svo/src/depth_filter.cpp b/svo/src/depth_filter.cpp
index 1f70be8..bf3a686 100644
--- a/svo/src/depth_filter.cpp
+++ b/svo/src/depth_filter.cpp
@@ -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;
     }