From 8d3ed5078c3d24417e825f4e7b5dc7ab105e124f Mon Sep 17 00:00:00 2001
From: Christian Forster <ch.forster@gmail.com>
Date: Wed, 30 Apr 2014 22:28:56 +0200
Subject: [PATCH] set second frame as keyframe before it is handed to depth
 filter. otherwise no new seeds are initialized for this frame.

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

diff --git a/svo/src/frame_handler_mono.cpp b/svo/src/frame_handler_mono.cpp
index 1e7bac5..419f21f 100644
--- a/svo/src/frame_handler_mono.cpp
+++ b/svo/src/frame_handler_mono.cpp
@@ -120,12 +120,12 @@ FrameHandlerBase::UpdateResult FrameHandlerMono::processSecondFrame()
   ba::twoViewBA(new_frame_.get(), map_.lastKeyframe().get(), Config::lobaThresh(), map_);
 #endif
 
+  new_frame_->setKeyframe();
   double depth_mean, depth_min;
   frame_utils::getSceneDepth(*new_frame_, depth_mean, depth_min);
   depth_filter_->addKeyframe(new_frame_, depth_mean, 0.5*depth_min);
 
   // add frame to map
-  new_frame_->setKeyframe();
   map_.addKeyframe(new_frame_);
   stage_ = STAGE_DEFAULT_FRAME;
   klt_homography_init_.reset();