Check reference_id in description matches vector (#83)

* Check reference_id in descriptor matches vector

* Spacing

* Trailing whitespace

* Constant iterator

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Co-authored-by: Alberto Giacalone <[email protected]>
Co-authored-by: Saurabh Gupta <[email protected]>

Author: 3 people

cpp/map_closures/MapClosures.cpp

@@ -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;