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fixed dereference end iterator assert (#900)

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matlabbe
2022-09-19 07:34:48 -07:00
parent 4d6bc78e3d
commit 737675c6f1
1 changed files with 1 additions and 1 deletions
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corelib/src/Rtabmap.cpp
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@@ -4830,7 +4830,7 @@ std::map<int, Transform> Rtabmap::optimizeGraph(
}
else
{
bool hasLandmarks = edgeConstraints.begin()->first < 0;
bool hasLandmarks = !edgeConstraints.empty() && edgeConstraints.begin()->first < 0;
if(poses.size() != guessPoses.size() || hasLandmarks)
{
UDEBUG("recompute poses using only links (robust to multi-session)");