As mentioned the switch from inside to outside is usually not a problem, but the other way around is (the only exception would be when you last changed lenses in a warm humid area (like a greenhouse for instance), because then you will probably get condense water inside the camera
)
I usually leave the camera in the camera bag when going inside so it can warm up slowly to room temperatur (depending on the difference in temperature this can take a few hours, if there is no need for the camera: leave it in the bag overnight before extraction.)
If you need to speed things up for some occasions and don't have time to gradually warm the camera (and forgot to bring a plastic bag
), a little condense water on the outside won't kill your camera (even with a non WR lens attached), but make sure to wipe the occuring moisture off of the camera/lens and take the lens cap not off until the camera is warm enough to not attract more condense water or you will have to wipe the front element too.
Don't change lenses inside when the camera is cold, if you do you'll get condense water inside the camera, which is to be avoided at all time - go outside in the cold if you have to change lenses, but best avoid a lens change at all