Fixed map empty on start if there is no global loop closure yet in lo… #459

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Job	Run time
docker_deps (focal-deps)	18s
docker_deps (jammy-deps)	18s
docker_deps (jammy-iron-deps)	14s
docker (bionic)	1h 35m 0s
docker (focal)	2h 7m 29s
docker (jammy)	1h 48m 20s
docker (jammy-iron)	10m 9s
docker (android23)	15m 17s
docker (android24)	15m 7s
docker (android26)	15m 21s
docker (android30)	14m 41s
	6h 42m 14s