https://github.com/gaoxiang12/slambook/blob/ee286b5f32682b9d0d8e7abd99a4a4f697a772d7/project/0.2/src/visual_odometry.cpp#L168, vector index maybe error because of line 150, if.
slambook/project/0.2/src/visual_odometry.cpp
Line 168 in ee286b5