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add support for RVL depth image compression (#1409)

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* add rvl_codec

* add support for RVL deep image compression

* DBViewer: edit depth re-using same compression format than the one in database.

* Fixing windows ci

* 💄

* missing dll export (windows)

* typo

---------

Co-authored-by: matlabbe <matlabbe@gmail.com>
This commit is contained in:
Borong Yuan
2024-12-16 10:35:05 +08:00
committed by GitHub
parent 02e30ffc69
commit 89849ae245
16 changed files with 325 additions and 52 deletions
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5
corelib/include/rtabmap/core/Compression.h
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@@ -30,6 +30,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap/core/rtabmap_core_export.h" // DLL export/import defines
#include <rtabmap/core/rvl_codec.h>
#include <rtabmap/utilite/UThread.h>
#include <opencv2/opencv.hpp>
@@ -86,5 +87,9 @@ cv::Mat RTABMAP_CORE_EXPORT uncompressData(const unsigned char * bytes, unsigned
cv::Mat RTABMAP_CORE_EXPORT compressString(const std::string & str);
std::string RTABMAP_CORE_EXPORT uncompressString(const cv::Mat & bytes);
std::string RTABMAP_CORE_EXPORT compressedDepthFormat(const cv::Mat & bytes);
std::string RTABMAP_CORE_EXPORT compressedDepthFormat(const std::vector<unsigned char> & bytes);
std::string RTABMAP_CORE_EXPORT compressedDepthFormat(const unsigned char * bytes, size_t size);
} /* namespace rtabmap */
#endif /* COMPRESSION_H_ */

5
corelib/include/rtabmap/core/DBDriver.h
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@@ -100,7 +100,7 @@ public:
int nodeId,
const std::vector<CameraModel> & models,
const std::vector<StereoCameraModel> & stereoModels);
void updateDepthImage(int nodeId, const cv::Mat & image);
void updateDepthImage(int nodeId, const cv::Mat & image, const std::string & format);
void updateLaserScan(int nodeId, const LaserScan & scan);
public:
@@ -243,7 +243,8 @@ protected:
virtual void updateDepthImageQuery(
int nodeId,
const cv::Mat & image) const = 0;
const cv::Mat & image,
const std::string & format) const = 0;
virtual void updateLaserScanQuery(
int nodeId,

5
corelib/include/rtabmap/core/DBDriverSqlite3.h
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@@ -103,7 +103,8 @@ protected:
virtual void updateDepthImageQuery(
int nodeId,
const cv::Mat & image) const;
const cv::Mat & image,
const std::string & format) const;
void updateLaserScanQuery(
int nodeId,
@@ -173,7 +174,7 @@ private:
void stepImage(sqlite3_stmt * ppStmt, int id, const cv::Mat & imageBytes) const;
void stepDepth(sqlite3_stmt * ppStmt, const SensorData & sensorData) const;
void stepCalibrationUpdate(sqlite3_stmt * ppStmt, int nodeId, const std::vector<CameraModel> & models, const std::vector<StereoCameraModel> & stereoModels) const;
void stepDepthUpdate(sqlite3_stmt * ppStmt, int nodeId, const cv::Mat & imageCompressed) const;
void stepDepthUpdate(sqlite3_stmt * ppStmt, int nodeId, const cv::Mat & image, const std::string & format) const;
void stepScanUpdate(sqlite3_stmt * ppStmt, int nodeId, const LaserScan & image) const;
void stepSensorData(sqlite3_stmt * ppStmt, const SensorData & sensorData) const;
void stepLink(sqlite3_stmt * ppStmt, const Link & link) const;

1
corelib/include/rtabmap/core/Memory.h
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@@ -303,6 +303,7 @@ private:
bool _notLinkedNodesKeptInDb;
bool _saveIntermediateNodeData;
std::string _rgbCompressionFormat;
std::string _depthCompressionFormat;
bool _incrementalMemory;
bool _localizationDataSaved;
bool _reduceGraph;

1
corelib/include/rtabmap/core/Parameters.h
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@@ -209,6 +209,7 @@ class RTABMAP_CORE_EXPORT Parameters
RTABMAP_PARAM(Mem, NotLinkedNodesKept, bool, true, "Keep not linked nodes in db (rehearsed nodes and deleted nodes).");
RTABMAP_PARAM(Mem, IntermediateNodeDataKept, bool, false, "Keep intermediate node data in db.");
RTABMAP_PARAM_STR(Mem, ImageCompressionFormat, ".jpg", "RGB image compression format. It should be \".jpg\" or \".png\".");
RTABMAP_PARAM_STR(Mem, DepthCompressionFormat, ".rvl", "Depth image compression format for 16UC1 depth type. It should be \".png\" or \".rvl\". If depth type is 32FC1, \".png\" is used.");
RTABMAP_PARAM(Mem, STMSize, unsigned int, 10, "Short-term memory size.");
RTABMAP_PARAM(Mem, IncrementalMemory, bool, true, "SLAM mode, otherwise it is Localization mode.");
RTABMAP_PARAM(Mem, LocalizationDataSaved, bool, false, uFormat("Save localization data during localization session (when %s=false). When enabled, the database will then also grow in localization mode. This mode would be used only for debugging purpose.", kMemIncrementalMemory().c_str()).c_str());

37
corelib/include/rtabmap/core/rvl_codec.h Normal file
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@@ -0,0 +1,37 @@
// The following code is a C++ wrapper of the code presented by
// Andrew D. Wilson in "Fast Lossless Depth Image Compression" at SIGCHI'17.
// The original code is licensed under the MIT License.
#ifndef RVL_CODEC_H_
#define RVL_CODEC_H_
#include <cstdint>
#include "rtabmap/core/rtabmap_core_export.h"
namespace rtabmap
{
class RTABMAP_CORE_EXPORT RvlCodec {
public:
RvlCodec();
// Compress input data into output. The size of output can be equal to (1.5 * numPixels + 4) in the worst case.
int CompressRVL(const uint16_t * input, unsigned char * output, int numPixels);
// Decompress input data into output. The size of output must be equal to numPixels.
void DecompressRVL(const unsigned char * input, uint16_t * output, int numPixels);
private:
RvlCodec(const RvlCodec &);
RvlCodec & operator=(const RvlCodec &);
void EncodeVLE(int value);
int DecodeVLE();
int *buffer_;
int *pBuffer_;
int word_;
int nibblesWritten_;
};
} // namespace rtabmap
#endif // RVL_CODEC_H_