Abort some procedures if set of keypoints is empty

src/publisher_vision.cpp

@@ -516,11 +516,12 @@ void PublisherVisionDebug::showTracks(cv::Mat _image,
     int min_feature_in_track = min_max_feat.first;
     int max_feature_in_track = min_max_feat.second;
 
-    // std::cout << "\n\n\n Number of tracks: " << _tracks.size() << '\n';
     // for (auto track = _tracks.begin(); track != _tracks.end(); ++track) //la map trackS
 
     map<size_t, FeatureBasePtr> alive_features = _track_matrix.snapshot(_cap_img);
 
+    if (alive_features.empty()) return;
+
     TimeStamp time_capture = _cap_img->getTimeStamp();
 
     for (auto alive_feat : alive_features)
@@ -529,7 +530,7 @@ void PublisherVisionDebug::showTracks(cv::Mat _image,
         Track track = _track_matrix.track(alive_feat.second->trackId());
         if (track.size() == 0)
         {
-            std::cout << "SIZE 0 TRACK!!" << '\n';
+            WOLF_WARN("SIZE 0 TRACK!!");
             continue;
         }
 
@@ -714,6 +715,9 @@ void PublisherVisionDebug::showLandmarks(cv::Mat _image,
 
     // draw one ladmark for each feature
     const auto& ftrs_alive = _track_matrix.snapshotAsList(_capture);
+
+    if (ftrs_alive.empty()) return;
+
     for (const auto& ftr: ftrs_alive)
     {
         // get stuff of this landmark