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Fixing various issues detected by rtabmap_slam tests (#1773)

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* Fixing getNodeData missing compressed grids

* Fixing roundtrip laserScan <-> Pointcloud2 on all formats.

* Keep already compressed user_data and laser_scan if possible

* fixed double compression of user_data

* reorder headers

* removed dead function declaration

* expand test coverage
This commit is contained in:
matlabbe
2026-09-26 21:07:59 -07:00
committed by GitHub
parent 16fb2f0541
commit 66c72be7db
12 changed files with 396 additions and 21 deletions
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corelib/src/Memory.cpp
+24 -13
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@@ -4795,7 +4795,10 @@ SensorData Memory::getNodeData(int locationId, bool images, bool scan, bool user
((!images || !s->sensorData().imageCompressed().empty()) &&
(!scan || !s->sensorData().laserScanCompressed().isEmpty()) &&
(!userData || !s->sensorData().userDataCompressed().empty()) &&
(!occupancyGrid || s->sensorData().gridCellSize() != 0.0f))))
(!occupancyGrid ||
!s->sensorData().gridGroundCellsCompressed().empty() ||
!s->sensorData().gridObstacleCellsCompressed().empty() ||
!s->sensorData().gridEmptyCellsCompressed().empty()))))
{
r = s->sensorData();
if(!images)
@@ -6669,6 +6672,10 @@ Signature * Memory::createSignature(const SensorData & inputData, const Transfor
bool reuseCompressedDepthConfidence =
depthConfidence.data == data.depthConfidenceRaw().data &&
!data.depthConfidenceCompressed().empty();
bool reuseCompressedUserData = !data.userDataCompressed().empty();
bool reuseCompressedScan =
laserScan.data().data == data.laserScanRaw().data().data &&
!data.laserScanCompressed().isEmpty();
cv::Mat compressedImage;
cv::Mat compressedDepth;
@@ -6694,11 +6701,11 @@ Signature * Memory::createSignature(const SensorData & inputData, const Transfor
{
ctDepthConfidence.start();
}
if(!laserScan.isEmpty())
if(!laserScan.isEmpty() && !reuseCompressedScan)
{
ctLaserScan.start();
}
if(!data.userDataRaw().empty())
if(!data.userDataRaw().empty() && !reuseCompressedUserData)
{
ctUserData.start();
}
@@ -6711,16 +6718,16 @@ Signature * Memory::createSignature(const SensorData & inputData, const Transfor
compressedImage = ctImage.getCompressedData();
compressedDepth = ctDepth.getCompressedData();
compressedDepthConfidence = ctDepthConfidence.getCompressedData();
compressedScan = ctLaserScan.getCompressedData();
compressedUserData = ctUserData.getCompressedData();
compressedScan = reuseCompressedScan?data.laserScanCompressed().data():ctLaserScan.getCompressedData();
compressedUserData = reuseCompressedUserData?data.userDataCompressed():ctUserData.getCompressedData();
}
else
{
compressedImage = reuseCompressedImage?cv::Mat():compressImage2(image, _rgbCompressionFormat);
compressedDepth = reuseCompressedDepth?cv::Mat():compressImage2(depthOrRightImage, depthOrRightImage.type() == CV_32FC1 || depthOrRightImage.type() == CV_16UC1?_depthCompressionFormat:_rgbCompressionFormat);
compressedDepthConfidence = reuseCompressedDepthConfidence?cv::Mat():compressData2(depthConfidence);
compressedScan = compressData2(laserScan.data());
compressedUserData = compressData2(data.userDataRaw());
compressedScan = reuseCompressedScan?data.laserScanCompressed().data():compressData2(laserScan.data());
compressedUserData = reuseCompressedUserData?data.userDataCompressed():compressData2(data.userDataRaw());
}
s = new Signature(id,
@@ -6784,28 +6791,32 @@ Signature * Memory::createSignature(const SensorData & inputData, const Transfor
// just compress user data and laser scan (scans can be used for local scan matching)
cv::Mat compressedScan;
cv::Mat compressedUserData;
bool reuseCompressedUserData = !data.userDataCompressed().empty();
bool reuseCompressedScan =
laserScan.data().data == data.laserScanRaw().data().data &&
!data.laserScanCompressed().isEmpty();
if(_compressionParallelized)
{
rtabmap::CompressionThread ctUserData(data.userDataRaw());
rtabmap::CompressionThread ctLaserScan(laserScan.data());
if(!data.userDataRaw().empty() && !isIntermediateNode)
if(!data.userDataRaw().empty() && !isIntermediateNode && !reuseCompressedUserData)
{
ctUserData.start();
}
if(!laserScan.isEmpty() && !isIntermediateNode)
if(!laserScan.isEmpty() && !isIntermediateNode && !reuseCompressedScan)
{
ctLaserScan.start();
}
ctUserData.join();
ctLaserScan.join();
compressedScan = ctLaserScan.getCompressedData();
compressedUserData = ctUserData.getCompressedData();
compressedScan = reuseCompressedScan?data.laserScanCompressed().data():ctLaserScan.getCompressedData();
compressedUserData = reuseCompressedUserData && !isIntermediateNode?data.userDataCompressed():ctUserData.getCompressedData();
}
else
{
compressedScan = compressData2(laserScan.data());
compressedUserData = compressData2(data.userDataRaw());
compressedScan = reuseCompressedScan?data.laserScanCompressed().data():compressData2(laserScan.data());
compressedUserData = reuseCompressedUserData?data.userDataCompressed():compressData2(data.userDataRaw());
}
s = new Signature(id,