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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/SensorData.cpp
+1 -1
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@@ -568,7 +568,7 @@ void SensorData::setUserData(const cv::Mat & userData, bool clearPreviousData)
else
{
_userDataRaw = userData;
if(!userData.empty())
if(!userData.empty() && _userDataCompressed.empty())
{
_userDataCompressed = compressData2(userData);
}