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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/Memory.cpp
+39 -5
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@@ -80,6 +80,7 @@ Memory::Memory(const ParametersMap & parameters) :
_notLinkedNodesKeptInDb(Parameters::defaultMemNotLinkedNodesKept()),
_saveIntermediateNodeData(Parameters::defaultMemIntermediateNodeDataKept()),
_rgbCompressionFormat(Parameters::defaultMemImageCompressionFormat()),
_depthCompressionFormat(Parameters::defaultMemDepthCompressionFormat()),
_incrementalMemory(Parameters::defaultMemIncrementalMemory()),
_localizationDataSaved(Parameters::defaultMemLocalizationDataSaved()),
_reduceGraph(Parameters::defaultMemReduceGraph()),
@@ -568,6 +569,7 @@ void Memory::parseParameters(const ParametersMap & parameters)
Parameters::parse(params, Parameters::kMemNotLinkedNodesKept(), _notLinkedNodesKeptInDb);
Parameters::parse(params, Parameters::kMemIntermediateNodeDataKept(), _saveIntermediateNodeData);
Parameters::parse(params, Parameters::kMemImageCompressionFormat(), _rgbCompressionFormat);
Parameters::parse(params, Parameters::kMemDepthCompressionFormat(), _depthCompressionFormat);
Parameters::parse(params, Parameters::kMemRehearsalIdUpdatedToNewOne(), _idUpdatedToNewOneRehearsal);
Parameters::parse(params, Parameters::kMemGenerateIds(), _generateIds);
Parameters::parse(params, Parameters::kMemBadSignaturesIgnored(), _badSignaturesIgnored);
@@ -5808,10 +5810,42 @@ Signature * Memory::createSignature(const SensorData & inputData, const Transfor
std::vector<unsigned char> imageBytes;
std::vector<unsigned char> depthBytes;
if(_saveDepth16Format && !depthOrRightImage.empty() && depthOrRightImage.type() == CV_32FC1)
if(!depthOrRightImage.empty() && depthOrRightImage.type() == CV_32FC1)
{
UWARN("Save depth data to 16 bits format: depth type detected is 32FC1, use 16UC1 depth format to avoid this conversion (or set parameter \"Mem/SaveDepth16Format\"=false to use 32bits format).");
depthOrRightImage = util2d::cvtDepthFromFloat(depthOrRightImage);
if(_saveDepth16Format)
{
static bool warned = false;
if(!warned)
{
UWARN("Converting depth data to 16 bits format because depth type detected is 32FC1, "
"feed 16UC1 depth format directly to avoid this conversion (or set parameter %s=false "
"to save 32bits format). This warning is only printed once.",
Parameters::kMemSaveDepth16Format().c_str());
warned = true;
}
depthOrRightImage = util2d::cvtDepthFromFloat(depthOrRightImage);
}
else if(_depthCompressionFormat == ".rvl")
{
static bool warned = false;
if(!warned)
{
UWARN("%s is set to false to use 32bits format but this is not "
"compatible with the compressed depth format chosen (%s=\"%s\"), depth "
"images will be compressed in \".png\" format instead. Explicitly "
"set %s to true to keep using \"%s\" format and images will be "
"converted to 16bits for convenience (warning: that would "
"remove all depth values over 65 meters). Explicitly set %s=\".png\" "
"to suppress this warning. This warning is only printed once.",
Parameters::kMemSaveDepth16Format().c_str(),
Parameters::kMemDepthCompressionFormat().c_str(),
_depthCompressionFormat.c_str(),
Parameters::kMemSaveDepth16Format().c_str(),
_depthCompressionFormat.c_str(),
Parameters::kMemDepthCompressionFormat().c_str());
warned = true;
}
}
}
cv::Mat compressedImage;
@@ -5821,7 +5855,7 @@ Signature * Memory::createSignature(const SensorData & inputData, const Transfor
if(_compressionParallelized)
{
rtabmap::CompressionThread ctImage(image, _rgbCompressionFormat);
rtabmap::CompressionThread ctDepth(depthOrRightImage, depthOrRightImage.type() == CV_32FC1 || depthOrRightImage.type() == CV_16UC1?std::string(".png"):_rgbCompressionFormat);
rtabmap::CompressionThread ctDepth(depthOrRightImage, depthOrRightImage.type() == CV_32FC1 || depthOrRightImage.type() == CV_16UC1?_depthCompressionFormat:_rgbCompressionFormat);
rtabmap::CompressionThread ctLaserScan(laserScan.data());
rtabmap::CompressionThread ctUserData(data.userDataRaw());
if(!image.empty())
@@ -5853,7 +5887,7 @@ Signature * Memory::createSignature(const SensorData & inputData, const Transfor
else
{
compressedImage = compressImage2(image, _rgbCompressionFormat);
compressedDepth = compressImage2(depthOrRightImage, depthOrRightImage.type() == CV_32FC1 || depthOrRightImage.type() == CV_16UC1?std::string(".png"):_rgbCompressionFormat);
compressedDepth = compressImage2(depthOrRightImage, depthOrRightImage.type() == CV_32FC1 || depthOrRightImage.type() == CV_16UC1?_depthCompressionFormat:_rgbCompressionFormat);
compressedScan = compressData2(laserScan.data());
compressedUserData = compressData2(data.userDataRaw());
}