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Support Inverted Depth compression (with png or rvl)

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matlabbe
2026-10-03 12:40:06 -07:00
parent a4e7f13522
commit 34f0638261
11 changed files with 958 additions and 68 deletions
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corelib/test/CMakeLists.txt
+14
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@@ -162,6 +162,20 @@ IF(BUILD_PERF_TESTS)
set_tests_properties(test_graph_perf PROPERTIES
TIMEOUT ${_perf_timeout}
LABELS "performance")
# Comparison of the depth image compression approaches (sizes, times, errors) for
# 16UC1 and 32FC1 depth images: PNG, RVL, zlib, the legacy 4-channel PNG of 32FC1
# images, their conversion to 16UC1 millimeters, and their quantization as 16 bits
# inverse depth (Mem/DepthCompressionFormat=".png:max:q" or ".rvl:max:q"):
# bin/test_compression_perf
# bin/test_compression_perf --gtest_filter=*Synthetic*
add_executable(test_compression_perf perf_compression.cpp)
target_link_libraries(test_compression_perf gtest_main rtabmap_core)
add_test(NAME test_compression_perf COMMAND test_compression_perf)
set_tests_properties(test_compression_perf PROPERTIES
TIMEOUT ${_perf_timeout}
LABELS "performance")
ENDIF(BUILD_PERF_TESTS)
# Rtabmap end-to-end replay of sample DBs (test data fetched by