diff --git a/src/processor/processor_tracker_feature.cpp b/src/processor/processor_tracker_feature.cpp index be7767a14d79d7de703a19350190444f1be648ab..acbb0365143d3253758d204e6b3a0b912e89baf5 100644 --- a/src/processor/processor_tracker_feature.cpp +++ b/src/processor/processor_tracker_feature.cpp @@ -47,7 +47,10 @@ unsigned int ProcessorTrackerFeature::processNew(const int& _max_new_features) // fill the track matrix for (auto ftr : new_features_last_) + { + assert(std::find(known_features_last_.begin(), known_features_last_.end(), ftr) == known_features_last_.end() && "detectNewFeatures() provided a new feature that is already in known_features_last_`"); track_matrix_.newTrack(ftr); + } // Track new features from last to incoming. This will append new correspondences to matches_last_incoming trackFeatures(new_features_last_,