From 193d2d314a008abab0861e170f1ce8efd2e95802 Mon Sep 17 00:00:00 2001
From: ymd-stella <world.applepie@gmail.com>
Date: Thu, 2 May 2024 09:53:04 +0900
Subject: [PATCH] If the initial pose was given manually, try
 motion_based_track

---
 src/stella_vslam/tracking_module.cc | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/src/stella_vslam/tracking_module.cc b/src/stella_vslam/tracking_module.cc
index 298033e6..9a307569 100644
--- a/src/stella_vslam/tracking_module.cc
+++ b/src/stella_vslam/tracking_module.cc
@@ -327,7 +327,7 @@ bool tracking_module::track_current_frame() {
     bool succeeded = false;
 
     // Tracking mode
-    if (twist_is_valid_ && last_reloc_frm_id_ + 2 < curr_frm_.id_) {
+    if (twist_is_valid_) {
         // if the motion model is valid
         succeeded = frame_tracker_.motion_based_track(curr_frm_, last_frm_, twist_);
     }
@@ -362,6 +362,8 @@ bool tracking_module::relocalize_by_pose(const pose_request& request) {
         if (succeeded) {
             last_reloc_frm_id_ = curr_frm_.id_;
             last_reloc_frm_timestamp_ = curr_frm_.timestamp_;
+            // If the initial pose was given manually, use motion_based_track, expecting that the camera is not moving.
+            last_frm_ = curr_frm_;
         }
     }
     else {