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Fixing getNodeData missing compressed grids

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matlabbe
2026-09-26 13:09:13 -07:00
parent 16fb2f0541
commit fff389cc56
5 changed files with 102 additions and 2 deletions
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corelib/src/Rtabmap.cpp
+5
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@@ -5920,6 +5920,11 @@ Signature Rtabmap::getSignatureCopy(int id, bool images, bool scan, bool userDat
s.sensorData().setGlobalDescriptors(globalDescriptors);
}
}
if(!withGlobalDescriptors)
{
// Node data taken from memory comes with its global descriptors.
s.sensorData().clearGlobalDescriptors();
}
if(velocity.size()==6)
{
s.setVelocity(velocity[0], velocity[1], velocity[2], velocity[3], velocity[4], velocity[5]);