Merge branch 'master' of github.com:introlab/rtabmap into gtest

corelib/src/Features2d.cpp

@@ -887,8 +887,17 @@ cv::Mat Feature2D::generateDescriptors(
 		UASSERT(!image.empty());
 		UASSERT(image.type() == CV_8UC1);
 		descriptors = generateDescriptorsImpl(image, keypoints);
-		UASSERT_MSG(descriptors.rows == (int)keypoints.size(), uFormat("descriptors=%d, keypoints=%d", descriptors.rows, (int)keypoints.size()).c_str());
-		UDEBUG("Descriptors extracted = %d, remaining kpts=%d", descriptors.rows, (int)keypoints.size());
+		if(descriptors.rows != (int)keypoints.size())
+		{
+			UWARN("Descriptor extraction returned %d rows for %d keypoints — "
+					"clearing keypoints to keep them in sync.",
+					descriptors.rows, (int)keypoints.size());
+			keypoints.clear();
+			descriptors = cv::Mat();
+		}
+		else {
+			UDEBUG("Descriptors extracted = %d, remaining kpts=%d", descriptors.rows, (int)keypoints.size());
+		}
 	}
 	return descriptors;
 }

corelib/src/Parameters.cpp

@@ -113,11 +113,14 @@ ParametersMap Parameters::deserialize(const std::string & parameters)
 	std::list<std::string> tuplets = uSplit(parameters, ';');
 	for(std::list<std::string>::iterator iter=tuplets.begin(); iter!=tuplets.end(); ++iter)
 	{
-		std::list<std::string> p = uSplit(*iter, ':');
-		if(p.size() == 2)
+		// Split on the FIRST ':' only. Using uSplit() here would discard
+		// empty tokens, so a tuplet like "Marker/Lengths:" (legitimate empty
+		// string value) would lose the value side and be dropped entirely.
+		size_t colonPos = iter->find(':');
+		if(colonPos != std::string::npos && colonPos > 0)
 		{
-			std::string key = p.front();
-			std::string value = p.back();
+			std::string key = iter->substr(0, colonPos);
+			std::string value = iter->substr(colonPos + 1);
 
 			// look for old parameter name
 			bool addParameter = true;

corelib/src/superpoint_torch/SuperPoint.cc

@@ -144,7 +144,12 @@ std::vector<cv::KeyPoint> SPDetector::detect(const cv::Mat &img, const cv::Mat &
 	UASSERT(img.type() == CV_8UC1);
 	UASSERT(mask.empty() || (mask.type() == CV_8UC1 && img.cols == mask.cols && img.rows == mask.rows));
 	detected_ = false;
-	if(model_)
+	if(!model_)
+	{
+		UERROR("No model is loaded!");
+		return std::vector<cv::KeyPoint>();
+	}
+	try
 	{
 		torch::NoGradGuard no_grad_guard;
 		auto x = torch::from_blob(img.data, {1, 1, img.rows, img.cols}, torch::kByte);
@@ -199,9 +204,9 @@ std::vector<cv::KeyPoint> SPDetector::detect(const cv::Mat &img, const cv::Mat &
 		detected_ = true;
 		return keypoints;
 	}
-	else
+	catch(const std::exception & e)
 	{
-		UERROR("No model is loaded!");
+		UERROR("SPDetector::detect() threw: %s", e.what());
 		return std::vector<cv::KeyPoint>();
 	}
 }