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Use lower_bound() before iterating multimap entries of a key (#1776)

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Several places look up a multimap with find(key) and then iterate while
iter->first == key, assuming find() returns the first element with that key.
The standard does not guarantee this, and recent libc++ (Apple clang 21 /
libc++ 2200) returns an arbitrary matching element. graph::findLink() then
misses existing links and Optimizer::getConnectedGraph() aborts with
"Condition (kter!=linksIn.end()) not met!" on graphs with loop closures or
multiple sessions (rtabmap-export --opt 0, rtabmap-reprocess, etc.).

Replace find() with lower_bound() at those sites and add a regression test.

Co-authored-by: Claude Opus 5.5 (1M context) <[email protected]>
Co-authored-by: matlabbe <[email protected]>
This commit is contained in:
Nathan Totten
2026-09-27 18:37:17 -07:00
committed by GitHub
co-authored by Claude Opus 5.5 matlabbe
parent 8035be52ff
commit 5c9cfa98fe
6 changed files with 46 additions and 23 deletions
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corelib/src/Optimizer.cpp
+2 -2
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@@ -277,7 +277,7 @@ void Optimizer::getConnectedGraph(
posesOut.insert(std::make_pair(currentId, currentPose));
// add prior links
for(std::multimap<int, Link>::const_iterator pter=linksIn.find(currentId); pter!=linksIn.end() && pter->first==currentId; ++pter)
for(std::multimap<int, Link>::const_iterator pter=linksIn.lower_bound(currentId); pter!=linksIn.end() && pter->first==currentId; ++pter)
{
if(pter->second.from() == pter->second.to() && (!priorsIgnored() || pter->second.type() != Link::kPosePrior))
{
@@ -285,7 +285,7 @@ void Optimizer::getConnectedGraph(
}
}
for(std::multimap<int, std::pair<int, Link::Type> >::const_iterator iter=biLinks.find(currentId); iter!=biLinks.end() && iter->first==currentId; ++iter)
for(std::multimap<int, std::pair<int, Link::Type> >::const_iterator iter=biLinks.lower_bound(currentId); iter!=biLinks.end() && iter->first==currentId; ++iter)
{
int toId = iter->second.first;
Link::Type type = iter->second.second;