From 1e9db342b5541ac0c6449456636bea1a762030e5 Mon Sep 17 00:00:00 2001
From: cesardebeunne <debeunnecesar@gmail.com>
Date: Fri, 22 Apr 2022 15:48:43 +0200
Subject: [PATCH] Correct bug preprocess()

---
 src/processor/processor_visual_odometry.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/processor/processor_visual_odometry.cpp b/src/processor/processor_visual_odometry.cpp
index d09564c1e..bef67520c 100644
--- a/src/processor/processor_visual_odometry.cpp
+++ b/src/processor/processor_visual_odometry.cpp
@@ -218,7 +218,7 @@ void ProcessorVisualOdometry::preProcess()
         // And create a filtered map for last keypoints
         KeyPointsMap mwkps_last_filtered;
         for (auto track: tracks_last_incoming_filtered){
-            mwkps_last_filtered.at(track.first) = mwkps_last.at(track.first);
+            mwkps_last_filtered[track.first] = mwkps_last[track.first];
             size_t last_kp_id = track.first;
             cell_grid_.hitCell(capture_image_last_->getKeyPoints().at(last_kp_id).getCvKeyPoint());
         }
-- 
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