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Fixed node ID=0 issues as msgs may not have seq. (#1202)

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(cherry picked from commit 097cab0667)
This commit is contained in:
Borong Yuan
2024-09-01 21:38:25 -07:00
committed by GitHub
parent a97efff760
commit 3eb0b47a55
2 changed files with 4 additions and 5 deletions
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rtabmap_conversions/src/MsgConversion.cpp
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@@ -1402,6 +1402,7 @@ rtabmap::Signature nodeFromROS(const rtabmap_msgs::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())
@@ -1456,6 +1457,7 @@ rtabmap::Signature nodeFromROS(const rtabmap_msgs::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::Node & msg)