From 6f6c4c9930d9662b129ab24063bcc3abec1d373d Mon Sep 17 00:00:00 2001
From: Christian Forster <ch.forster@gmail.com>
Date: Wed, 13 Aug 2014 17:54:43 +0200
Subject: [PATCH] speeding up initialization by using previous flow estimate in
 klt tracking.

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

diff --git a/svo/src/initialization.cpp b/svo/src/initialization.cpp
index 16d1c80..84b9baf 100644
--- a/svo/src/initialization.cpp
+++ b/svo/src/initialization.cpp
@@ -144,7 +144,7 @@ void trackKlt(
                            px_ref, px_cur,
                            status, error,
                            cv::Size2i(klt_win_size, klt_win_size),
-                           4, termcrit);
+                           4, termcrit, cv::OPTFLOW_USE_INITIAL_FLOW);
 
   vector<cv::Point2f>::iterator px_ref_it = px_ref.begin();
   vector<cv::Point2f>::iterator px_cur_it = px_cur.begin();