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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/test/test_dbdriver.cpp
+47
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@@ -956,6 +956,53 @@ TEST_F(DbDriverFixture, LabelAndGraphQueries)
EXPECT_TRUE(lastNodeIds.count(4));
}
// getNodeData() answers from the trash -- signatures waiting to be written -- when it can.
// For a saved signature, that is only when the compressed payload asked for is still in
// it: saving drops a signature's compressed occupancy grid but keeps the raw cells, and so
// the cell size, which alone does not mean the compressed grid is there.
TEST_F(DbDriverFixture, GetNodeDataTakesTheGridFromTheTrashOnlyIfCompressed)
{
cv::Mat obstacles(1, 3, CV_32FC3);
for(int i = 0; i < 3; ++i)
{
obstacles.at<cv::Vec3f>(0, i) = cv::Vec3f(float(i) * 0.1f, 0.0f, 0.0f);
}
// Node 1 in the database, with its compressed grid.
Signature * written = new Signature(1);
attachSensorDataForDatabaseSave(*written);
written->sensorData().setOccupancyGrid(cv::Mat(), obstacles, cv::Mat(), 0.05f, cv::Point3f());
saveSignature(written);
// Node 2, saved but only in the trash, with its compressed grid: taken from there.
Signature * pending = new Signature(2);
pending->sensorData().setOccupancyGrid(cv::Mat(), obstacles, cv::Mat(), 0.05f, cv::Point3f());
pending->setSaved(true);
driver_->asyncSave(pending);
{
SensorData data;
driver_->getNodeData(2, data, false, false, false, true);
EXPECT_FALSE(data.gridObstacleCellsCompressed().empty());
EXPECT_FLOAT_EQ(0.05f, data.gridCellSize());
}
// A copy of node 1 in the trash, its compressed grid dropped as saving does, the raw
// cells and the cell size kept: the grid comes from the database instead.
Signature * stale = new Signature(1);
stale->sensorData().setOccupancyGrid(cv::Mat(), obstacles, cv::Mat(), 0.05f, cv::Point3f());
stale->sensorData().clearCompressedData(false, false, false, true);
stale->setSaved(true);
ASSERT_TRUE(stale->sensorData().gridObstacleCellsCompressed().empty());
ASSERT_FLOAT_EQ(0.05f, stale->sensorData().gridCellSize());
driver_->asyncSave(stale);
{
SensorData data;
driver_->getNodeData(1, data, false, false, false, true);
EXPECT_FALSE(data.gridObstacleCellsCompressed().empty());
EXPECT_FLOAT_EQ(0.05f, data.gridCellSize());
}
}
TEST_F(DbDriverFixture, GetNodeDataAndLocalFeatures)
{
Signature * sig = new Signature(1);