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Fixed node ID=0 issues on ros2 as msgs don't have seq.

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matlabbe
2023-11-19 18:57:01 -08:00
parent a399ee97b5
commit 097cab0667
2 changed files with 4 additions and 5 deletions
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rtabmap_conversions/src/MsgConversion.cpp
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@@ -1413,6 +1413,7 @@ rtabmap::Signature nodeFromROS(const rtabmap_msgs::msg::Node & msg)
std::multimap<int, int> words;
std::vector<cv::KeyPoint> wordsKpts;
std::vector<cv::Point3f> words3D;
cv::Mat wordsDescriptors = rtabmap::uncompressData(msg.word_descriptors);
if(msg.word_id_keys.size() != msg.word_id_values.size())
@@ -1468,6 +1469,7 @@ rtabmap::Signature nodeFromROS(const rtabmap_msgs::msg::Node & msg)
s.setWords(words, wordsKpts, words3D, wordsDescriptors);
s.sensorData() = sensorDataFromROS(msg.data);
s.sensorData().setId(msg.id);
return s;
}
void nodeToROS(const rtabmap::Signature & signature, rtabmap_msgs::msg::Node & msg)