Size mismatch ([:? x :?] ~= [:? x :? x :?]).

Hello,

I'm trying to convert my program into C/C++ code. but when i tried to convert my code using matlab coder i'm getting error "Size mismatch ([:? x :?] ~= [:? x :? x :?])" at 60th line inside the helperRadarLidarFusionFcn.

P(onlyLidarStates,onlyLidarStates) = PL;

at this line "P(onlyLidarStates,onlyLidarStates)" size was Inf x:Inf and "PL " size was Inf x:Inf x:Inf

I'm attaching the helperRadarLidarFusionFcn.m file

How do i clear this error?

[Wilson A N]

Hi Vimal,

Can you provide the compilation inputs you are providing to the function. This would help to recreate the issue.

I tried using the following command on the function and it seems to work (assuming first is 2 dimensional input and second argument is 3 dimensional)

codegen helperRadarLidarFusionFcn -args {coder.typeof(2,[Inf Inf]),coder.typeof(2,[Inf Inf Inf])}

-Wilson

[Vimal Prasath]

I tried the same command that you used above, Still i'm getting the same errors

>> codegen helperRadarLidarFusionFcn -args {coder.typeof(2,[Inf Inf]),coder.typeof(2,[Inf Inf Inf])}

??? Size mismatch ([:? x :?] ~= [:? x :? x :?]).

Error in ==> helperRadarLidarFusionFcn Line: 60 Column: 1
Code generation failed: View Error Report
Error using codegen

I dont know why it is happening, Please help me solving this issue

-Vimal

Answer 1

[Wilson A N]

Hi Vimal,

I was able to reproduce the issue with MATLAB R2019b. Based on my observations, can you try changing the code in line no 49-60 to the following:

if sum(valid) > 1
    [xL,PL] = fusecovint(xMerge,PMerge);
    P(onlyLidarStates,onlyLidarStates) = PL;
elseif sum(valid) == 1
    xL = xMerge;
    PL = PMerge;
    P(onlyLidarStates,onlyLidarStates) = PL(:,:,1);
else
    xL = 0;
    PL = 1;
    P(onlyLidarStates,onlyLidarStates) = PL;
end

x(onlyLidarStates) = xL;
% P(onlyLidarStates,onlyLidarStates) = PL;

From my understanding of the error message, there is a dimension mismatch that was taking place. So, I explicitly specified the PL variable with dimensions before assigning it to variable P in each path of the if else condition.

In the elseif condition I gave PL(:,:,1) as only when valid = 1, then sum(valid) = 1.

I was able to compile successfully with this small modification.

Hope it helps.

- Wilson

[William Mok]

Hi Wilson,

Can you please help to check this code too? I got the same error when converting to C/C++ using the coder in line 84.

Thanks in advance.

Regards,

William

[Wilson A N]

Hi William,

I tried the following command with the attached file, but I was unable to reproduce the issue

codegen AGCWD -args {coder.typeof(3,[Inf Inf])}

But by just looking at the code, I think the issue can be fixed by just rewriting line 84 with a simple nested for loop.

Line 84 is used to assign the values to 'color_image' from 'value_channel'. Now, explicitly specifying which values to assign to which elements would likely resolve the issue. A pseudocode for the above can look something like below:

for (i = 1; i < size(value_channel,1);i++) 
    for (j = 1; i < size(value_channel,2);i++) 
        color_image(i,j,3) = value_channel(i,j);
    end
end

Hope it helps :)

- Wilson