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LIO-SAM datasets launch file example

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matlabbe
2026-04-12 23:39:12 +00:00
parent 95004363b4
commit 7dc3730214
4 changed files with 294 additions and 38 deletions
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rtabmap_util/src/nodelets/point_cloud_assembler.cpp
+3 -2
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@@ -305,8 +305,9 @@ private:
callbackCalled_ = true;
if(cloudPub_.getNumSubscribers())
{
UASSERT_MSG(cloudMsg->data.size() == cloudMsg->row_step*cloudMsg->height,
uFormat("data=%d row_step=%d height=%d", cloudMsg->data.size(), cloudMsg->row_step, cloudMsg->height).c_str());
UASSERT_MSG(cloudMsg->data.size() == cloudMsg->row_step*cloudMsg->height ||
cloudMsg->data.size() == cloudMsg->point_step*cloudMsg->width*cloudMsg->height,
uFormat("data=%d row_step=%d point_step=%d width=%d height=%d", cloudMsg->data.size(), cloudMsg->row_step, cloudMsg->point_step, cloudMsg->width, cloudMsg->height).c_str());
if(skipClouds_<=0 || cloudsSkipped_ >= skipClouds_)
{