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Merge master->ros2 (fixed #674)

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matlabbe
2021-11-03 12:05:28 -04:00
parent f54404812f 70bc399907
commit ab1288cccc
8 changed files with 67 additions and 32 deletions
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src/MsgConversion.cpp
+1 -1
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@@ -1074,7 +1074,7 @@ rtabmap::Signature nodeDataFromROS(const rtabmap_ros::msg::NodeData & msg)
{
UERROR("Word IDs and 3D points should be the same size (%d, %d)!", (int)msg.word_ids.size(), (int)msg.word_pts.size());
}
if(wordsDescriptors.rows != (int)msg.word_ids.size())
if(!wordsDescriptors.empty() && wordsDescriptors.rows != (int)msg.word_ids.size())
{
UERROR("Word IDs and descriptors should be the same size (%d, %d)!", (int)msg.word_ids.size(), wordsDescriptors.rows);
wordsDescriptors = cv::Mat();