deleteNode children == __null assertion fails

[xinyiz]

I am getting the same problem in issue (#283 ) when trying to call deleteNode:

Code:

  for (OcTree::leaf_iterator it = tree_->begin_leafs(), end = tree_->end_leafs(); it != end; ++it) {
     if (it->getValue() < 0.0001) {
       tree_->deleteNode(it.getKey(),it.getDepth());
     }
  }

Stack trace:

octomap::OcTreeDataNode::~OcTreeDataNode() [T = float]: children == __null
WARNING: thread.cc:1831 @ 0x7f14d9e27300 __assert_fail
WARNING: thread.cc:1831 @ 0x7f14dda9209e octomap::OcTreeDataNode<>::~OcTreeDataNode()
WARNING: thread.cc:1831 @ 0x7f14dda91e58
octomap::OcTreeNode::~OcTreeNode()
octomap::OcTreeBaseImpl<>::deleteNodeChild()
...
...
octomap::OcTreeBaseImpl<>::deleteNodeRecurs()
WARNING: thread.cc:1831 @ 0x7f14ddb60f37 octomap::OcTreeBaseImpl<>::deleteNodeRecurs()
WARNING: thread.cc:1831 @ 0x7f14ddb60f37 octomap::OcTreeBaseImpl<>::deleteNodeRecurs()
WARNING: thread.cc:1831 @ 0x7f14ddb60f37 octomap::OcTreeBaseImpl<>::deleteNodeRecurs()
WARNING: thread.cc:1831 @ 0x7f14ddb4e5bc
octomap::OcTreeBaseImpl<>::deleteNode()

I also checked and there are no children, yet the assert fails

[geovanemimoso]

I have the same issue as described on #283 & #287 when i try to delete a node on debug mode.

Code:

{
    for (octomap::OcTreeStamped::leaf_iterator it = m_map->begin_leafs(),
         end = m_map->end_leafs();
         it != end; ++it)
    {
        if (it.getCoordinate().distance(center) > m_size)
            keys.push_back(std::make_pair(it.getKey(), it.getDepth()));
    }
    for (auto k:keys)
        m_map->deleteNode(k.first, k.second);
}

Stack trace:

test: .../octomap/octomap/include/octomap/OcTreeDataNode.hxx:70:
octomap::OcTreeDataNode<T>::~OcTreeDataNode() [with T = float]: 
Assertion `children == NULL' failed.

[ahornung]

Does the change described in #288 fix the problem for you?

[geovanemimoso]

Does the change described in #288 fix the problem for you?

Hi, yes it fixes. I'm actually using this commit now on my application.