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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 <[email protected]>
This commit is contained in:
Borong Yuan
2024-12-15 18:35:05 -08:00
committed by GitHub
co-authored by matlabbe
parent 02e30ffc69
commit 89849ae245
16 changed files with 325 additions and 52 deletions
Download Patch File Download Diff File Expand all files Collapse all files
corelib/src/Compression.cpp
+92 -25
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@@ -34,14 +34,14 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
namespace rtabmap {
// format : ".png" ".jpg" "" (empty is general)
// format : ".jpg" ".png" ".rvl" "" (empty is general)
CompressionThread::CompressionThread(const cv::Mat & mat, const std::string & format) :
uncompressedData_(mat),
format_(format),
image_(!format.empty()),
compressMode_(true)
{
UASSERT(format.empty() || format.compare(".png") == 0 || format.compare(".jpg") == 0);
UASSERT(format.empty() || format.compare(".jpg") == 0 || format.compare(".png") == 0 || format.compare(".rvl") == 0);
}
// assume image
CompressionThread::CompressionThread(const cv::Mat & bytes, bool isImage) :
@@ -96,7 +96,7 @@ void CompressionThread::mainLoop()
this->kill();
}
// ".png" or ".jpg"
// ".jpg" or ".png" or ".rvl"
std::vector<unsigned char> compressImage(const cv::Mat & image, const std::string & format)
{
std::vector<unsigned char> bytes;
@@ -106,7 +106,21 @@ std::vector<unsigned char> compressImage(const cv::Mat & image, const std::strin
{
//save in 8bits-4channel
cv::Mat bgra(image.size(), CV_8UC4, image.data);
cv::imencode(format, bgra, bytes);
cv::imencode(".png", bgra, bytes);
}
else if(format == ".rvl")
{
bytes = {'D', 'E', 'P', 'T', 'H', 'R', 'V', 'L'};
int numPixels = image.rows * image.cols;
// In the worst case, RVL compression results in ~1.5x larger data.
bytes.resize(3 * numPixels + 20);
uint32_t cols = image.cols;
uint32_t rows = image.rows;
memcpy(&bytes[8], &cols, 4);
memcpy(&bytes[12], &rows, 4);
RvlCodec rvl;
int compressedSize = rvl.CompressRVL(image.ptr<uint16_t>(), &bytes[16], numPixels);
bytes.resize(16 + compressedSize);
}
else
{
@@ -116,7 +130,7 @@ std::vector<unsigned char> compressImage(const cv::Mat & image, const std::strin
return bytes;
}
// ".png" or ".jpg"
// ".jpg" or ".png" or ".rvl"
cv::Mat compressImage2(const cv::Mat & image, const std::string & format)
{
std::vector<unsigned char> bytes = compressImage(image, format);
@@ -129,21 +143,33 @@ cv::Mat compressImage2(const cv::Mat & image, const std::string & format)
cv::Mat uncompressImage(const cv::Mat & bytes)
{
cv::Mat image;
cv::Mat image;
if(!bytes.empty())
{
#if CV_MAJOR_VERSION>2 || (CV_MAJOR_VERSION >=2 && CV_MINOR_VERSION >=4)
image = cv::imdecode(bytes, cv::IMREAD_UNCHANGED);
#else
image = cv::imdecode(bytes, -1);
#endif
if(image.type() == CV_8UC4)
if (compressedDepthFormat(bytes) == ".rvl")
{
// Using clone() or copyTo() caused a memory leak !?!?
// image = cv::Mat(image.size(), CV_32FC1, image.data).clone();
cv::Mat depth(image.size(), CV_32FC1);
memcpy(depth.data, image.data, image.total()*image.elemSize());
image = depth;
uint32_t cols, rows;
memcpy(&cols, &bytes.data[8], 4);
memcpy(&rows, &bytes.data[12], 4);
image = cv::Mat(rows, cols, CV_16UC1);
RvlCodec rvl;
rvl.DecompressRVL(&bytes.data[16], image.ptr<uint16_t>(), cols * rows);
}
else
{
#if CV_MAJOR_VERSION>2 || (CV_MAJOR_VERSION >=2 && CV_MINOR_VERSION >=4)
image = cv::imdecode(bytes, cv::IMREAD_UNCHANGED);
#else
image = cv::imdecode(bytes, -1);
#endif
if(image.type() == CV_8UC4)
{
// Using clone() or copyTo() caused a memory leak !?!?
// image = cv::Mat(image.size(), CV_32FC1, image.data).clone();
cv::Mat depth(image.size(), CV_32FC1);
memcpy(depth.data, image.data, image.total()*image.elemSize());
image = depth;
}
}
}
return image;
@@ -151,17 +177,29 @@ cv::Mat uncompressImage(const cv::Mat & bytes)
cv::Mat uncompressImage(const std::vector<unsigned char> & bytes)
{
cv::Mat image;
cv::Mat image;
if(bytes.size())
{
#if CV_MAJOR_VERSION>2 || (CV_MAJOR_VERSION >=2 && CV_MINOR_VERSION >=4)
image = cv::imdecode(bytes, cv::IMREAD_UNCHANGED);
#else
image = cv::imdecode(bytes, -1);
#endif
if(image.type() == CV_8UC4)
if (compressedDepthFormat(bytes) == ".rvl")
{
image = cv::Mat(image.size(), CV_32FC1, image.data).clone();
uint32_t cols, rows;
memcpy(&cols, &bytes[8], 4);
memcpy(&rows, &bytes[12], 4);
image = cv::Mat(rows, cols, CV_16UC1);
RvlCodec rvl;
rvl.DecompressRVL(&bytes[16], image.ptr<uint16_t>(), cols * rows);
}
else
{
#if CV_MAJOR_VERSION>2 || (CV_MAJOR_VERSION >=2 && CV_MINOR_VERSION >=4)
image = cv::imdecode(bytes, cv::IMREAD_UNCHANGED);
#else
image = cv::imdecode(bytes, -1);
#endif
if(image.type() == CV_8UC4)
{
image = cv::Mat(image.size(), CV_32FC1, image.data).clone();
}
}
}
return image;
@@ -291,4 +329,33 @@ std::string uncompressString(const cv::Mat & bytes)
return "";
}
std::string compressedDepthFormat(const cv::Mat & bytes)
{
return compressedDepthFormat(bytes.data, bytes.rows * bytes.cols * bytes.elemSize());
}
std::string compressedDepthFormat(const std::vector<unsigned char> & bytes)
{
return compressedDepthFormat(bytes.data(), bytes.size());
}
std::string compressedDepthFormat(const unsigned char * bytes, size_t size)
{
std::string format;
if(bytes && size)
{
size_t maxlen = std::min(size, size_t(8));
std::vector<unsigned char> signature(maxlen);
memcpy(&signature[0], bytes, maxlen);
if (std::string(signature.begin(), signature.end()) == "DEPTHRVL")
{
format = ".rvl";
}
else
{
// Assuming png by default
format = ".png";
}
}
return format;
}
} /* namespace rtabmap */