fix a bug in UpdateConnections in KeyFrame.cc

fishmarch · Jul 17, 2023 · 45ea0f5 · 45ea0f5
1 parent c05fff5
commit 45ea0f5
Showing 1 changed file with 4 additions and 2 deletions.
diff --git a/src/KeyFrame.cc b/src/KeyFrame.cc
@@ -424,7 +424,7 @@ void KeyFrame::UpdateConnections(bool upParent)
     vPairs.reserve(KFcounter.size());
     if(!upParent)
         cout << "UPDATE_CONN: current KF " << mnId << endl;
-    for(map<KeyFrame*,int>::iterator mit=KFcounter.begin(), mend=KFcounter.end(); mit!=mend; mit++)
+    for(map<KeyFrame*,int>::iterator mit=KFcounter.begin(), mend=KFcounter.end(); mit!=mend;)
     {
         if(!upParent)
             cout << "  UPDATE_CONN: KF " << mit->first->mnId << " ; num matches: " << mit->second << endl;
@@ -437,7 +437,9 @@ void KeyFrame::UpdateConnections(bool upParent)
         {
             vPairs.push_back(make_pair(mit->second,mit->first));
             (mit->first)->AddConnection(this,mit->second);
-        }
+            mit++;
+        }else
+            mit = KFcounter.erase(mit);
     }
 
     if(vPairs.empty())