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Fixed assert on words index <0 when addMoreLoopClosures is called

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matlabbe
2025-12-18 16:38:13 -08:00
parent af7ff60a6c
commit 26573456c2
3 changed files with 6 additions and 4 deletions
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corelib/src/Memory.cpp
+1 -2
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@@ -4305,8 +4305,7 @@ void Memory::getNodeWordsAndGlobalDescriptors(int nodeId,
}
if(!words.empty() && wordsKpts.empty() && _dbDriver)
{
std::multimap<int, int> tmpWords;
_dbDriver->getLocalFeatures(nodeId, tmpWords, wordsKpts, words3, wordsDescriptors);
_dbDriver->getLocalFeatures(nodeId, words, wordsKpts, words3, wordsDescriptors);
}
}