diff --git a/src/module/reconstruction_module.cc b/src/module/reconstruction_module.cc
index bec2701..dd09bc6 100644
--- a/src/module/reconstruction_module.cc
+++ b/src/module/reconstruction_module.cc
@@ -23,18 +23,18 @@ void ReconstructionModule::Update(std::vector<data::Landmark> &landmarks)
     triangulator_->Triangulate(landmarks);
 
     visualization_.Reserve(landmarks.size());
-    for (int i = 0; i < lastLandmarksSize_; i++)
+    for (int i = lastLandmarksSize_; i < landmarks.size(); i++)
+    {
+        cv::Point2f pt = landmarks[i].GetObservations()[0].GetKeypoint().pt;
+        visualization_.AddPoint(pt);
+    }
+    for (int i = 0; i < landmarks.size(); i++)
     {
         if (landmarks[i].HasEstimatedPosition())
         {
             visualization_.UpdatePoint(i, landmarks[i].GetEstimatedPosition());
         }
     }
-    for (int i = lastLandmarksSize_; i < landmarks.size(); i++)
-    {
-        cv::Point2f pt = landmarks[i].GetObservations()[0].GetKeypoint().pt;
-        visualization_.AddPoint(pt);
-    }
     lastLandmarksSize_ = landmarks.size();
 }
 
diff --git a/src/module/tracking_module.cc b/src/module/tracking_module.cc
index d8a7f09..cab740e 100644
--- a/src/module/tracking_module.cc
+++ b/src/module/tracking_module.cc
@@ -51,7 +51,7 @@ void TrackingModule::Update(std::unique_ptr<data::Frame> &frame)
 
     int i = 0;
     int numGood = 0;
-    map<pair<int, int>, int> regionCount;
+    regionCount_.clear();
     stats_.trackLengths.resize(landmarks_.size(), 0);
     for (data::Landmark& landmark : landmarks_)
     {
@@ -66,7 +66,7 @@ void TrackingModule::Update(std::unique_ptr<data::Frame> &frame)
             vector<double>::const_iterator ti = upper_bound(ts_.begin(), ts_.end(), t);
             int rinx = min((int)(ri - rs_.begin()), (int)(rs_.size() - 1)) - 1;
             int tinx = min((int)(ti - ts_.begin()), (int)(ts_.size() - 1)) - 1;
-            regionCount[{rinx, tinx}]++;
+            regionCount_[{rinx, tinx}]++;
 
             Vector2d pixelGnd;
             if (frames_.back()->GetCameraModel().ProjectToImage(util::TFUtil::WorldFrameToCameraFrame(util::TFUtil::TransformPoint(frames_.back()->GetInversePose(), landmark.GetGroundTruth())), pixelGnd))
@@ -106,23 +106,28 @@ void TrackingModule::Update(std::unique_ptr<data::Frame> &frame)
         }
         i++;
     }
+
+    stats_.frameTrackCounts.emplace_back(vector<int>{frameNum_, numGood});
+
+    (*next(frames_.rbegin()))->CompressImages();
+
+    frameNum_++;
+}
+
+void TrackingModule::Redetect()
+{
+    int imsize = max(frames_.back()->GetImage().rows, frames_.back()->GetImage().cols);
     #pragma omp parallel for collapse(2)
     for (int i = 0; i < rs_.size() - 1; i++)
     {
         for (int j = 0; j < ts_.size() - 1; j++)
         {
-            if (regionCount.find({i, j}) == regionCount.end() || regionCount.at({i, j}) < minFeaturesRegion_)
+            if (regionCount_.find({i, j}) == regionCount_.end() || regionCount_.at({i, j}) < minFeaturesRegion_)
             {
                 detector_->DetectInRadialRegion(*frames_.back(), landmarks_, rs_[i] * imsize, rs_[i+1] * imsize, ts_[j], ts_[j+1]);
             }
         }
     }
-
-    stats_.frameTrackCounts.emplace_back(vector<int>{frameNum_, numGood});
-
-    (*next(frames_.rbegin()))->CompressImages();
-
-    frameNum_++;
 }
 
 std::vector<data::Landmark>& TrackingModule::GetLandmarks()
diff --git a/src/module/tracking_module.h b/src/module/tracking_module.h
index 5fa47bc..78ae27b 100644
--- a/src/module/tracking_module.h
+++ b/src/module/tracking_module.h
@@ -31,6 +31,7 @@ class TrackingModule
     TrackingModule(std::unique_ptr<feature::Detector> &&detector, std::unique_ptr<feature::Tracker> &&tracker, int minFeaturesRegion = 5);
 
     void Update(std::unique_ptr<data::Frame> &frame);
+    void Redetect();
 
     std::vector<data::Landmark>& GetLandmarks();
 
@@ -62,6 +63,7 @@ class TrackingModule
     const std::vector<double> rs_{0, 0.1, 0.2, 0.3, 0.4, 0.49};
     const std::vector<double> ts_{-M_PI, -3 * M_PI / 4, -M_PI / 2, -M_PI / 4, 0, M_PI / 4, M_PI / 2, 3 * M_PI / 4, M_PI};
     int minFeaturesRegion_;
+    std::map<std::pair<int, int>, int> regionCount_;
 
     Stats stats_;
     Visualization visualization_;
diff --git a/src/ros/reconstruction_eval.cc b/src/ros/reconstruction_eval.cc
index ce9e102..0e2f9be 100644
--- a/src/ros/reconstruction_eval.cc
+++ b/src/ros/reconstruction_eval.cc
@@ -43,8 +43,9 @@ void ReconstructionEval::InitPublishers()
 
 void ReconstructionEval::ProcessFrame(unique_ptr<data::Frame> &&frame)
 {
-    TrackingEval::ProcessFrame(std::move(frame));
+    trackingModule_->Update(frame);
     reconstructionModule_->Update(trackingModule_->GetLandmarks());
+    trackingModule_->Redetect();
 }
 
 void ReconstructionEval::Finish()
diff --git a/src/ros/tracking_eval.cc b/src/ros/tracking_eval.cc
index 16d726e..604a979 100644
--- a/src/ros/tracking_eval.cc
+++ b/src/ros/tracking_eval.cc
@@ -56,6 +56,7 @@ void TrackingEval::InitPublishers()
 void TrackingEval::ProcessFrame(unique_ptr<data::Frame> &&frame)
 {
     trackingModule_->Update(frame);
+    trackingModule_->Redetect();
 }
 
 void TrackingEval::GetResultsData(std::map<std::string, std::vector<std::vector<double>>> &data)