Method initialize

src/PLPSLAM/tracking_module.cc:572–592

    }

    bool tracking_module::initialize()
    {
        // try to initialize with the current frame
        initializer_.initialize(curr_frm_);

        // if map building was failed -> reset the map database
        if (initializer_.get_state() == module::initializer_state_t::Wrong)
        {
            // reset
            system_->request_reset();
            return false;
        }

        // if initializing was failed -> try to initialize with the next frame
        if (initializer_.get_state() != module::initializer_state_t::Succeeded)
        {
            return false;
        }

        return true;
    }

    bool tracking_module::track_current_frame()
    {