Replay of DB throws Assert keypoints.size() == descriptors_.rows not met

[arrlee]

Hello,

I recorded multiple databases and want to merge them into one. When I try to replay either on a empty db or on one of the existing dbs I always get an assertion error in the console and rtabmap-gui hangs: [FATAL] (2022-04-05 21:09:27) Features2d.cpp:2034::rtabmap::ORBOctree::generateDescriptorsImpl() Condition ((int)keypoints.size() == descriptors_.rows) not met! [keypoints=4952 descriptors=0]

For recording I used ORBOctree and sensor fusion of Realsense L515+T265. The registration approach was set to Visual-only to save computation power on my laptop. Even when I use exactly the settings from the recording for the replay it does not work.

Any help is appreciated!

Best regards, André

[matlabbe]

Are you using rtabmap-reprocess to merge them? Can you share two databases reproducing this error?