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nodeDataFromROS() Fixed words3 not filled

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matlabbe
2016-04-08 16:55:18 -04:00
parent 4100c38c46
commit f1636d3c7f
1 changed files with 2 additions and 1 deletions
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src/MsgConversion.cpp
+2 -1
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@@ -452,10 +452,11 @@ rtabmap::Signature nodeDataFromROS(const rtabmap_ros::NodeData & msg)
std::multimap<int, cv::Point3f> words3D; std::multimap<int, cv::Point3f> words3D;
pcl::PointCloud<pcl::PointXYZ> cloud; pcl::PointCloud<pcl::PointXYZ> cloud;
if(msg.wordPts.data.size() && if(msg.wordPts.data.size() &&
msg.wordPts.data.size() == msg.wordIds.size()) msg.wordPts.height*msg.wordPts.width == msg.wordIds.size())
{ {
pcl::fromROSMsg(msg.wordPts, cloud); pcl::fromROSMsg(msg.wordPts, cloud);
} }
for(unsigned int i=0; i<msg.wordIds.size() && i<msg.wordKpts.size(); ++i) for(unsigned int i=0; i<msg.wordIds.size() && i<msg.wordKpts.size(); ++i)
{ {
cv::KeyPoint pt = keypointFromROS(msg.wordKpts.at(i)); cv::KeyPoint pt = keypointFromROS(msg.wordKpts.at(i));