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Added Mem/ImageCompressionFormat parameter (default .jpg)

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matlabbe
2019-02-11 15:23:38 -05:00
parent 99944b1d49
commit 38b8746507
5 changed files with 118 additions and 142 deletions
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1
corelib/include/rtabmap/core/Memory.h
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@@ -287,6 +287,7 @@ private:
bool _saveDepth16Format;
bool _notLinkedNodesKeptInDb;
bool _saveIntermediateNodeData;
std::string _rgbCompressionFormat;
bool _incrementalMemory;
bool _reduceGraph;
int _maxStMemSize;

1
corelib/include/rtabmap/core/Parameters.h
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@@ -204,6 +204,7 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(Mem, SaveDepth16Format, bool, false, "Save depth image into 16 bits format to reduce memory used. Warning: values over ~65 meters are ignored (maximum 65535 millimeters).");
RTABMAP_PARAM(Mem, NotLinkedNodesKept, bool, true, "Keep not linked nodes in db (rehearsed nodes and deleted nodes).");
RTABMAP_PARAM(Mem, IntermediateNodeDataKept, bool, false, "Keep intermediate node data in db.");
RTABMAP_PARAM_STR(Mem, ImageCompressionFormat, ".jpg", "RGB image compression format. It should be \".jpg\" or \".png\".");
RTABMAP_PARAM(Mem, STMSize, unsigned int, 10, "Short-term memory size.");
RTABMAP_PARAM(Mem, IncrementalMemory, bool, true, "SLAM mode, otherwise it is Localization mode.");
RTABMAP_PARAM(Mem, ReduceGraph, bool, false, "Reduce graph. Merge nodes when loop closures are added (ignoring those with user data set).");

10
corelib/src/Memory.cpp
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@@ -77,6 +77,7 @@ Memory::Memory(const ParametersMap & parameters) :
_saveDepth16Format(Parameters::defaultMemSaveDepth16Format()),
_notLinkedNodesKeptInDb(Parameters::defaultMemNotLinkedNodesKept()),
_saveIntermediateNodeData(Parameters::defaultMemIntermediateNodeDataKept()),
_rgbCompressionFormat(Parameters::defaultMemImageCompressionFormat()),
_incrementalMemory(Parameters::defaultMemIncrementalMemory()),
_reduceGraph(Parameters::defaultMemReduceGraph()),
_maxStMemSize(Parameters::defaultMemSTMSize()),
@@ -532,6 +533,7 @@ void Memory::parseParameters(const ParametersMap & parameters)
Parameters::parse(params, Parameters::kMemReduceGraph(), _reduceGraph);
Parameters::parse(params, Parameters::kMemNotLinkedNodesKept(), _notLinkedNodesKeptInDb);
Parameters::parse(params, Parameters::kMemIntermediateNodeDataKept(), _saveIntermediateNodeData);
Parameters::parse(params, Parameters::kMemImageCompressionFormat(), _rgbCompressionFormat);
Parameters::parse(params, Parameters::kMemRehearsalIdUpdatedToNewOne(), _idUpdatedToNewOneRehearsal);
Parameters::parse(params, Parameters::kMemGenerateIds(), _generateIds);
Parameters::parse(params, Parameters::kMemBadSignaturesIgnored(), _badSignaturesIgnored);
@@ -4758,8 +4760,8 @@ Signature * Memory::createSignature(const SensorData & inputData, const Transfor
cv::Mat compressedUserData;
if(_compressionParallelized)
{
rtabmap::CompressionThread ctImage(image, std::string(".jpg"));
rtabmap::CompressionThread ctDepth(depthOrRightImage, std::string(".png"));
rtabmap::CompressionThread ctImage(image, _rgbCompressionFormat);
rtabmap::CompressionThread ctDepth(depthOrRightImage, depthOrRightImage.type() == CV_32FC1 || depthOrRightImage.type() == CV_16UC1?std::string(".png"):_rgbCompressionFormat);
rtabmap::CompressionThread ctLaserScan(laserScan.data());
rtabmap::CompressionThread ctUserData(data.userDataRaw());
if(!image.empty())
@@ -4790,8 +4792,8 @@ Signature * Memory::createSignature(const SensorData & inputData, const Transfor
}
else
{
compressedImage = compressImage2(image, std::string(".jpg"));
compressedDepth = compressImage2(depthOrRightImage, depthOrRightImage.type() == CV_32FC1 || depthOrRightImage.type() == CV_16UC1?std::string(".png"):std::string(".jpg"));
compressedImage = compressImage2(image, _rgbCompressionFormat);
compressedDepth = compressImage2(depthOrRightImage, depthOrRightImage.type() == CV_32FC1 || depthOrRightImage.type() == CV_16UC1?std::string(".png"):_rgbCompressionFormat);
compressedScan = compressData2(laserScan.data());
compressedUserData = compressData2(data.userDataRaw());
}