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

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matlabbe
2026-05-23 13:36:15 -07:00
committed by GitHub
parent a9146f5be6
commit 49aa566613
4 changed files with 21 additions and 4 deletions
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5
corelib/src/Memory.cpp
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@@ -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);
@@ -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);
}
}

2
corelib/src/Rtabmap.cpp
View File

@@ -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

16
corelib/src/SensorData.cpp
View File

@@ -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)
@@ -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();
}
}
}