System Information

OpenCV C++ 4.8, Windows 10, MSVC v143

Detailed description

This doesn't happen in release mode, but only in debug mode.
The error is
runtime debug assertion failed: vector subscript out of range.
The last part of the call stack I have access to is my call to findEssentialMat() with any USAC_X strategy, the inputs are correct (points are matching length and type, camera matrix is good, solution exists, etc... works great in release mode) this doesn't happen when using RANSAC or any non-USAC strategy.

Steps to reproduce

int EssentialMethod = (any USAC_XXX constant);
vector Einliers;
Mat E = findEssentialMat(input_pts1, input_pts2, camMat, EssentialMethod, 0.99, 3.0, 100, Einliers);

Issue submission checklist

• I report the issue, it's not a question
• I checked the problem with documentation, FAQ, open issues, forum.opencv.org, Stack Overflow, etc and have not found any solution
• I updated to the latest OpenCV version and the issue is still there
• There is reproducer code and related data files (videos, images, onnx, etc)