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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_sensordata.cpp
+38
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@@ -1,5 +1,6 @@
#include <gtest/gtest.h>
#include <rtabmap/core/SensorData.h>
#include <rtabmap/core/Compression.h>
#include <rtabmap/core/CameraModel.h>
#include <rtabmap/core/StereoCameraModel.h>
#include <rtabmap/core/LaserScan.h>
@@ -595,6 +596,43 @@ TEST(SensorDataTest, SetUserData)
EXPECT_EQ(data.userDataRaw().cols, 100);
}
TEST(SensorDataTest, SetUserDataCompressesRawData)
{
SensorData data;
const cv::Mat userData = (cv::Mat_<float>(1, 4) << 1.0f, 2.0f, 3.0f, 4.0f);
data.setUserData(userData);
ASSERT_FALSE(data.userDataCompressed().empty());
EXPECT_EQ(0.0, cv::norm(uncompressData(data.userDataCompressed()), userData, cv::NORM_INF));
}
// Without clearing, the raw data of compressed user data already set is added to it:
// the compressed copy is kept rather than compressed again, as setLaserScan() and
// setRGBDImage() do. With nothing compressed yet, the raw data is still compressed.
TEST(SensorDataTest, SetUserDataWithoutClearingKeepsTheCompressedCopy)
{
const cv::Mat userData = (cv::Mat_<float>(1, 4) << 1.0f, 2.0f, 3.0f, 4.0f);
const cv::Mat compressed = compressData2(userData);
SensorData data;
data.setUserData(compressed);
ASSERT_TRUE(data.userDataRaw().empty());
data.setUserData(userData, false);
EXPECT_EQ(data.userDataRaw().data, userData.data);
EXPECT_EQ(data.userDataCompressed().data, compressed.data);
SensorData fresh;
fresh.setUserData(userData, false);
ASSERT_FALSE(fresh.userDataCompressed().empty());
EXPECT_EQ(0.0, cv::norm(uncompressData(fresh.userDataCompressed()), userData, cv::NORM_INF));
// Clearing, the default, compresses the new data again.
data.setUserData(userData);
EXPECT_NE(data.userDataCompressed().data, compressed.data);
EXPECT_EQ(0.0, cv::norm(uncompressData(data.userDataCompressed()), userData, cv::NORM_INF));
}
// Occupancy Grid Tests
TEST(SensorDataTest, SetOccupancyGrid)