From b2a1bd15721e23a036ee81a8a95ae69af771c603 Mon Sep 17 00:00:00 2001 From: joanvallve <jvallve@iri.upc.edu> Date: Sun, 12 Apr 2020 20:27:44 +0200 Subject: [PATCH] hotfix: assertion to guarantee that new features are not known --- src/processor/processor_tracker_feature.cpp | 3 +++ 1 file changed, 3 insertions(+) diff --git a/src/processor/processor_tracker_feature.cpp b/src/processor/processor_tracker_feature.cpp index be7767a14..acbb03651 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_, -- GitLab