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5c9cfa98fe
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]>
rtabmap
RTAB-Map library and standalone application.
- For more information (e.g., papers, major updates), visit RTAB-Map's home page.
- For installation instructions and examples, visit RTAB-Map's wiki.
- For the C++ API of the library, see the API documentation, which also lists all parameters and command-line tools.
To use RTAB-Map under ROS, visit the rtabmap page on the ROS wiki.
Acknowledgements
This project is supported by IntRoLab - Intelligent / Interactive / Integrated / Interdisciplinary Robot Lab, Sherbrooke, Québec, Canada.
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