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Check reference_id in description matches vector #83

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Merged
saurabh1002 merged 5 commits into from
Nov 25, 2025
Merged

Check reference_id in description matches vector #83

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Check reference_id in descriptor matches vector
Omega3395 Nov 10, 2025
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Omega3395 Nov 10, 2025
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Omega3395 Nov 24, 2025
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Constant iterator
Omega3395 Nov 24, 2025
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Merge branch 'main' into main
saurabh1002 Nov 25, 2025
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7 changes: 6 additions & 1 deletion cpp/map_closures/MapClosures.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -110,7 +110,12 @@ void MapClosures::MatchAndAddToDatabase(const int id,
}

ClosureCandidate MapClosures::ValidateClosure(const int reference_id, const int query_id) const {
const Tree::MatchVector &matches = descriptor_matches_.at(reference_id);
const auto it = descriptor_matches_.find(reference_id);
if (it == descriptor_matches_.end()) {
return ClosureCandidate();
}

const Tree::MatchVector &matches = it->second;
const size_t num_matches = matches.size();

ClosureCandidate closure;
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