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Fixed empty global map on ros (regression from #1698) #1709

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Merged
matlabbe merged 1 commit into from
May 23, 2026
+21 −4
Merged

Fixed empty global map on ros (regression from #1698) #1709

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2 changes: 1 addition & 1 deletion corelib/include/rtabmap/core/Memory.h
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Original file line number Diff line number Diff line change
Expand Up @@ -144,7 +144,7 @@ class RTABMAP_CORE_EXPORT Memory
void deleteLocation(int locationId, std::list<int> * deletedWords = 0);
void saveLocationData(int locationId);
void removeLink(int idA, int idB);
void removeRawData(int id, bool image = true, bool scan = true, bool userData = true);
void removeRawData(int id, bool image = true, bool scan = true, bool userData = true, bool occupancyGrid = true);
int reduceNode(int id, float maxDistance = 0.0f, bool keepLinkedInDb = false, int direction = 0);

//getters
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5 changes: 3 additions & 2 deletions corelib/src/Memory.cpp
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Expand Up @@ -3176,7 +3176,7 @@ void Memory::removeLink(int oldId, int newId)
}
}

void Memory::removeRawData(int id, bool image, bool scan, bool userData)
void Memory::removeRawData(int id, bool image, bool scan, bool userData, bool occupancyGrid)
{
UDEBUG("id=%d image=%d scan=%d userData=%d", id, image?1:0, scan?1:0, userData?1:0);
Signature * s = this->_getSignature(id);
Expand All @@ -3185,7 +3185,8 @@ void Memory::removeRawData(int id, bool image, bool scan, bool userData)
s->sensorData().clearRawData(
image && (!_reextractLoopClosureFeatures || !_registrationPipeline->isImageRequired()),
scan && !_registrationPipeline->isScanRequired(),
userData && !_registrationPipeline->isUserDataRequired());
userData && !_registrationPipeline->isUserDataRequired(),
occupancyGrid);
}
}

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2 changes: 1 addition & 1 deletion corelib/src/Rtabmap.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -4423,7 +4423,7 @@ bool Rtabmap::process(
}
if(!_rawDataKept)
{
_memory->removeRawData(signature->id(), true, !_neighborLinkRefining && !_proximityBySpace, true);
_memory->removeRawData(signature->id(), true, !_neighborLinkRefining && !_proximityBySpace, true, false);
}

// Localization mode and saving localization data: save odometry covariance in a prior link
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16 changes: 16 additions & 0 deletions corelib/src/SensorData.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -997,6 +997,14 @@ void SensorData::clearCompressedData(bool images, bool scan, bool userData, bool
_groundCellsCompressed=cv::Mat();
_emptyCellsCompressed=cv::Mat();
_obstacleCellsCompressed=cv::Mat();

if( _groundCellsCompressed.empty() && _groundCellsRaw.empty() &&
_obstacleCellsCompressed.empty() && _obstacleCellsRaw.empty() &&
_emptyCellsCompressed.empty() && _emptyCellsRaw.empty())
{
_cellSize = 0.0f;
_viewPoint = cv::Point3f();
}
}
}
void SensorData::clearRawData(bool images, bool scan, bool userData, bool occupancyGrid)
Expand Down Expand Up @@ -1024,6 +1032,14 @@ void SensorData::clearRawData(bool images, bool scan, bool userData, bool occupa
_groundCellsRaw=cv::Mat();
_emptyCellsRaw=cv::Mat();
_obstacleCellsRaw=cv::Mat();

if( _groundCellsCompressed.empty() && _groundCellsRaw.empty() &&
_obstacleCellsCompressed.empty() && _obstacleCellsRaw.empty() &&
_emptyCellsCompressed.empty() && _emptyCellsRaw.empty())
{
_cellSize = 0.0f;
_viewPoint = cv::Point3f();
}
}
}

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