BUG: fix nasty bug causing scene points to disappear.

cpp/src/DO/Sara/SfM/BuildingBlocks/BundleAdjuster.cpp

@@ -147,15 +147,15 @@ auto BundleAdjuster::populate_camera_params(
     const Eigen::Vector3d aaxis_v_3d = aaxis_v.angle() * aaxis_v.axis();
     // Initialize the absolute rotation.
     extrinsics_v << aaxis_v_3d.transpose(), pose_v.t.transpose();
-    SARA_LOGD(logger, "Populating extrinsics[{}]=\n{}", v, extrinsics_v.eval());
+    SARA_LOGT(logger, "Populating extrinsics[{}]=\n{}", v, extrinsics_v.eval());
 
     // Initialize the internal camera parameters.
     const auto& K = calibration_matrices[v];
     intrinsics_v(0) = K(0, 0);  // fx
     intrinsics_v(1) = K(1, 1);  // fy
     intrinsics_v(2) = K(0, 2);  // u0
     intrinsics_v(3) = K(1, 2);  // v0
-    SARA_LOGD(logger, "Populating intrinsics[{}]=\n{}", v, intrinsics_v.eval());
+    SARA_LOGT(logger, "Populating intrinsics[{}]=\n{}", v, intrinsics_v.eval());
   }
 }
 

cpp/src/DO/Sara/SfM/BuildingBlocks/PointCloudGenerator.cpp

@@ -390,12 +390,12 @@ auto PointCloudGenerator::grow_point_cloud(
     auto scene_point_value = ScenePoint{coords, color};
     _point_cloud.emplace_back(std::move(scene_point_value));
 
-    // Recall that a match is a pair of feature vertex.
-    const auto& [x, y] = fmatches[j];
-
     // Assign a scene point index to the two feature vertices.
-    _from_vertex_to_scene_point_index[x] = scene_point_index;
-    _from_vertex_to_scene_point_index[y] = scene_point_index;
+    const auto& ftrack = ftracks_without_scene_point[j];
+    for (const auto& v : ftrack)
+      _from_vertex_to_scene_point_index[v] = scene_point_index;
+
+    // Increment the scene point index.
     ++scene_point_index;
   }
 

cpp/src/DO/Sara/SfM/Odometry/OdometryPipeline.cpp

@@ -401,15 +401,9 @@ auto OdometryPipeline::adjust_bundles() -> void
     const auto& ftrack = ftracks_filtered[t];
     const auto idx = _point_cloud_generator->scene_point_index(ftrack.front());
     if (idx == std::nullopt)
-#ifdef BUG_DEBUG_ME
       throw std::runtime_error{fmt::format(
           "Error: the feature vertex {} must have a scene point index!",
           ftrack.front())};
-#else
-      SARA_LOGE(logger,
-                "Error: the feature vertex {} must have a scene point index!",
-                ftrack.front());
-#endif
 
     if (*idx >= _point_cloud.size())
       throw std::runtime_error{