Fixed assert on words index <0 when addMoreLoopClosures is called

Author: matlabbe

corelib/src/Memory.cpp

@@ -4305,8 +4305,7 @@ void Memory::getNodeWordsAndGlobalDescriptors(int nodeId,
 	}
 	if(!words.empty() && wordsKpts.empty() && _dbDriver)
 	{
-		std::multimap<int, int> tmpWords;
-		_dbDriver->getLocalFeatures(nodeId, tmpWords, wordsKpts, words3, wordsDescriptors);
+		_dbDriver->getLocalFeatures(nodeId, words, wordsKpts, words3, wordsDescriptors);
 	}
 }
 

corelib/src/RegistrationVis.cpp

@@ -333,11 +333,12 @@ Transform RegistrationVis::computeTransformationImpl(
 	UDEBUG("Feature Detector = %d", (int)_detectorFrom->getType());
 	UDEBUG("guess=%s", guess.prettyPrint().c_str());
 
-	UDEBUG("Input(%d): from=%d words, %d 3D words, %d words descriptors,  %d kpts, %d kpts3D, %d descriptors, image=%dx%d models=%d stereo=%d",
+	UDEBUG("Input(%d): from=%d words, %d 3D words, %d words descriptors, %d words kpts, %d kpts, %d kpts3D, %d descriptors, image=%dx%d models=%d stereo=%d",
 			fromSignature.id(),
 			(int)fromSignature.getWords().size(),
 			(int)fromSignature.getWords3().size(),
 			(int)fromSignature.getWordsDescriptors().rows,
+			(int)fromSignature.getWordsKpts().size(),
 			(int)fromSignature.sensorData().keypoints().size(),
 			(int)fromSignature.sensorData().keypoints3D().size(),
 			fromSignature.sensorData().descriptors().rows,
@@ -346,11 +347,12 @@ Transform RegistrationVis::computeTransformationImpl(
 			(int)fromSignature.sensorData().cameraModels().size(),
 			(int)fromSignature.sensorData().stereoCameraModels().size());
 
-	UDEBUG("Input(%d): to=%d words, %d 3D words, %d words descriptors, %d kpts, %d kpts3D, %d descriptors, image=%dx%d models=%d stereo=%d",
+	UDEBUG("Input(%d): to=%d words, %d 3D words, %d words descriptors, %d words kpts, %d kpts, %d kpts3D, %d descriptors, image=%dx%d models=%d stereo=%d",
 			toSignature.id(),
 			(int)toSignature.getWords().size(),
 			(int)toSignature.getWords3().size(),
 			(int)toSignature.getWordsDescriptors().rows,
+			(int)toSignature.getWordsKpts().size(),
 			(int)toSignature.sensorData().keypoints().size(),
 			(int)toSignature.sensorData().keypoints3D().size(),
 			toSignature.sensorData().descriptors().rows,

corelib/src/Rtabmap.cpp

@@ -5638,6 +5638,7 @@ int Rtabmap::detectMoreLoopClosures(
 		const ProgressState * processState,
 		float clusterRadiusMin)
 {
+	UDEBUG("");
 	UASSERT(iterations>0);
 
 	if(_graphOptimizer->iterations() <= 0)