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_,
-- 
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