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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_rtabmap.cpp
+44
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@@ -1,5 +1,6 @@
#include <gtest/gtest.h>
#include <rtabmap/core/Rtabmap.h>
#include <rtabmap/core/GlobalDescriptor.h>
#include <rtabmap/core/GPS.h>
#include <rtabmap/core/Landmark.h>
#include <rtabmap/core/Memory.h>
@@ -1337,6 +1338,49 @@ TEST(RtabmapTest, GetSignatureCopyReturnsRequestedPayloads)
rtabmap.close(false);
}
TEST(RtabmapTest, GetSignatureCopyReturnsOnlyTheSavedGridWhenAskedAlone)
{
// With a database on disk, process() saves each new node right away, which drops its
// compressed data from memory but keeps its global descriptors and its raw grid. A
// copy asking for the grid alone must still return the compressed grid, and must not
// return global descriptors that were not asked for.
const std::string dbPath = uniqueDbPath();
ParametersMap params = defaultRtabmapParams();
params[Parameters::kMemBinDataKept()] = "true";
params[Parameters::kRGBDCreateOccupancyGrid()] = "true";
Rtabmap rtabmap;
rtabmap.init(params, dbPath);
SensorData data(cv::Mat(8, 8, CV_8UC1, cv::Scalar(128)));
data.setId(1);
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);
}
data.setOccupancyGrid(cv::Mat(), obstacles, cv::Mat(), 0.05f, cv::Point3f(0, 0, 0));
data.setGlobalDescriptors(std::vector<GlobalDescriptor>(1, GlobalDescriptor(1, cv::Mat::ones(1, 8, CV_32FC1))));
ASSERT_TRUE(rtabmap.process(data, Transform(0, 0, 0, 0, 0, 0), cv::Mat::eye(6, 6, CV_64FC1) * 0.01));
const int id = rtabmap.getLastLocationId();
ASSERT_NE(rtabmap.getMemory()->getSignature(id), nullptr);
ASSERT_TRUE(rtabmap.getMemory()->getSignature(id)->isSaved());
const Signature grid = rtabmap.getSignatureCopy(id, /*images=*/false,
/*scan=*/false, /*userData=*/false, /*occupancyGrid=*/true,
/*withWords=*/false, /*withGlobalDescriptors=*/false);
EXPECT_FALSE(grid.sensorData().gridObstacleCellsCompressed().empty());
EXPECT_FLOAT_EQ(grid.sensorData().gridCellSize(), 0.05f);
EXPECT_TRUE(grid.sensorData().globalDescriptors().empty());
const Signature descriptors = rtabmap.getSignatureCopy(id, /*images=*/false,
/*scan=*/false, /*userData=*/false, /*occupancyGrid=*/true,
/*withWords=*/false, /*withGlobalDescriptors=*/true);
EXPECT_EQ(descriptors.sensorData().globalDescriptors().size(), 1u);
rtabmap.close(false);
UFile::erase(dbPath);
}
TEST(RtabmapTest, GetSignatureCopyOmitsImageWhenNotRequested)
{
ParametersMap params = defaultRtabmapParams();