Removed a few unnecessary copies caused by aslam return values not being respected

Author: smauq

algorithms/loopclosure/loop-closure-handler/src/loop-detector-node.cc

@@ -152,7 +152,7 @@ void LoopDetectorNode::convertFrameToProjectedImageOnlyUsingProvidedLandmarkIds(
       static_cast<int>(observed_landmark_ids.size()),
       frame.getDescriptorsOfType(feature_type_).cols());
 
-  const Eigen::Matrix2Xd& original_measurements =
+  const Eigen::Block<const Eigen::Matrix2Xd> original_measurements =
       frame.getKeypointMeasurementsOfType(feature_type_);
   const aslam::VisualFrame::DescriptorsT& original_descriptors =
       frame.getDescriptorsOfType(feature_type_);

algorithms/online-map-builders/src/stream-map-builder.cc

@@ -1081,12 +1081,12 @@ void StreamMapBuilder::notifyExternalFeaturesMeasurementBuffer() {
     if (!queries_.getClosestVertexIdByTimestamp(
             timestamp_ns_measurement, external_features_sync_tolerance_ns_,
             &closest_vertex_id, &delta_ns)) {
-      /*LOG(WARNING)
+      LOG(WARNING)
           << "[StreamMapBuilder] Could not attach external features "
           << "measurement, because the timestamp is not close enough to "
           << "a vertex in the pose graph (delta = " << delta_ns << "ns > "
           << external_features_sync_tolerance_ns_
-          << "ns)! timestamp_ns: " << timestamp_ns_measurement << ".";*/
+          << "ns)! timestamp_ns: " << timestamp_ns_measurement << ".";
       continue;
     }