Fixed #1196

introlab · Jan 7, 2024 · a0559b1 · a0559b1
1 parent 79db6b2
commit a0559b1
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Showing 3 changed files with 7 additions and 4 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -20,7 +20,7 @@ SET(CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake_modules")
 #######################
 SET(RTABMAP_MAJOR_VERSION 0)
 SET(RTABMAP_MINOR_VERSION 21)
-SET(RTABMAP_PATCH_VERSION 3)
+SET(RTABMAP_PATCH_VERSION 4)
 SET(RTABMAP_VERSION
  ${RTABMAP_MAJOR_VERSION}.${RTABMAP_MINOR_VERSION}.${RTABMAP_PATCH_VERSION})
 

diff --git a/guilib/src/DatabaseViewer.cpp b/guilib/src/DatabaseViewer.cpp
@@ -6899,8 +6899,11 @@ void DatabaseViewer::sliderIterationsValueChanged(int value)
  SensorData data;
  dbDriver_->getNodeData(ids.at(i), data, false, false, false);
  cv::Mat ground, obstacles, empty;
- data.uncompressData(0, 0, 0, 0, &ground, &obstacles, &empty);
- localMaps_.add(ids.at(i), ground, obstacles, empty, data.gridCellSize(), data.gridViewPoint());
+ if(data.gridCellSize()>0.0f)
+ {
+ data.uncompressData(0, 0, 0, 0, &ground, &obstacles, &empty);
+ }
+ localMaps_.add(ids.at(i), ground, obstacles, empty, data.gridCellSize()>0.0f?data.gridCellSize():Parameters::defaultGridCellSize(), data.gridViewPoint());
  if(!ground.empty() || !obstacles.empty())
  {
  localMaps_.shareTo(ids.at(i), combinedLocalMaps);

diff --git a/package.xml b/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
  <name>rtabmap</name>
- <version>0.21.3</version>
+ <version>0.21.4</version>
  <description>RTAB-Map's standalone library. RTAB-Map is a RGB-D SLAM approach with real-time constraints.</description>
  <maintainer email="matlabbe@gmail.com">Mathieu Labbe</maintainer>
  <author>Mathieu Labbe</author>