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Fixed build with RTABMAP_SYNC_USER_DATA=ON. Fixed wordids!=descriptors error #659 when Mem/RawDescriptorsKept is false

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matlabbe
2021-10-25 17:32:13 -04:00
parent eb297e147f
commit 42fca441ff
2 changed files with 2 additions and 2 deletions
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src/MsgConversion.cpp
+1 -1
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@@ -1067,7 +1067,7 @@ rtabmap::Signature nodeDataFromROS(const rtabmap_ros::NodeData & msg)
{ {
ROS_ERROR("Word IDs and 3D points should be the same size (%d, %d)!", (int)msg.wordIds.size(), (int)msg.wordPts.size()); ROS_ERROR("Word IDs and 3D points should be the same size (%d, %d)!", (int)msg.wordIds.size(), (int)msg.wordPts.size());
} }
if(wordsDescriptors.rows != (int)msg.wordIds.size()) if(!wordsDescriptors.empty() && wordsDescriptors.rows != (int)msg.wordIds.size())
{ {
ROS_ERROR("Word IDs and descriptors should be the same size (%d, %d)!", (int)msg.wordIds.size(), wordsDescriptors.rows); ROS_ERROR("Word IDs and descriptors should be the same size (%d, %d)!", (int)msg.wordIds.size(), wordsDescriptors.rows);
wordsDescriptors = cv::Mat(); wordsDescriptors = cv::Mat();
src/impl/CommonDataSubscriberScan.cpp
+1 -1
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@@ -414,7 +414,7 @@ void CommonDataSubscriber::setupScanCallbacks(
{ {
subscribedToOdomInfo_ = true; subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize); odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL3(dataScan2dInfo, approxSync, queueSize, userDataSub_, scanSub_, odomInfoSub_); SYNC_DECL3(CommonDataSubscriber, dataScan2dInfo, approxSync, queueSize, userDataSub_, scanSub_, odomInfoSub_);
} }
else else
{ {