diff --git a/CMakeLists.txt b/CMakeLists.txt
index 8658bcc52e..86d25c0706 100644
--- 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
index d4cb50de03..51ad3884c5 100644
--- 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
index 12e5c43655..926e64f49c 100644
--- 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>