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Added tests for compression

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matlabbe
2026-05-16 17:36:56 -07:00
parent 69e943f80c
commit a0d891bff0
3 changed files with 242 additions and 13 deletions
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corelib/include/rtabmap/core/Compression.h
+52 -13
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@@ -37,29 +37,51 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
namespace rtabmap {
/**
* Compress image or data
* @class CompressionThread
* @brief Background thread to compress or uncompress images and generic matrices.
*
* In compress mode, pass a source matrix to the constructor with an optional image
* format (".png", ".jpg", ".rvl", or empty for zlib data). In uncompress mode, pass
* compressed bytes and set @c isImage accordingly. Call @ref UThread::start() then
* @ref UThread::join() to obtain the result from @ref getCompressedData() or
* @ref getUncompressedData().
*
* Example compression:
* cv::Mat image;// an image
* CompressionThread ct(image);
* ct.start();
* ct.join();
* std::vector<unsigned char> bytes = ct.getCompressedData();
* @code
* cv::Mat image;
* CompressionThread ct(image, ".png");
* ct.start();
* ct.join();
* cv::Mat bytes = ct.getCompressedData();
* @endcode
*
* Example uncompression
* std::vector<unsigned char> bytes;// a compressed image
* CompressionThread ct(bytes);
* ct.start();
* ct.join();
* cv::Mat image = ct.getUncompressedData();
* Example uncompression:
* @code
* cv::Mat bytes;
* CompressionThread ct(bytes, true);
* ct.start();
* ct.join();
* cv::Mat image = ct.getUncompressedData();
* @endcode
*/
class RTABMAP_CORE_EXPORT CompressionThread : public UThread
{
public:
// format : ".png" ".jpg" "" (empty is general)
/**
* @brief Constructs a thread in compress mode.
* @param mat Source image or data matrix to compress.
* @param format Image format: @c ".png", @c ".jpg", @c ".rvl", or empty for zlib (@ref compressData2).
*/
CompressionThread(const cv::Mat & mat, const std::string & format = "");
/**
* @brief Constructs a thread in uncompress mode.
* @param bytes Compressed bytes (@c CV_8UC1).
* @param isImage If true, decode as image; otherwise decode as zlib data.
*/
CompressionThread(const cv::Mat & bytes, bool isImage);
/** @return Compressed output (@c CV_8UC1), valid after compress mode completes. */
const cv::Mat & getCompressedData() const {return compressedData_;}
/** @return Uncompressed output, valid after uncompress mode completes. */
cv::Mat & getUncompressedData() {return uncompressedData_;}
protected:
virtual void mainLoop();
@@ -71,24 +93,41 @@ private:
bool compressMode_;
};
/** @brief Encodes @p image to a byte buffer (OpenCV @c imencode or RVL for depth). */
std::vector<unsigned char> RTABMAP_CORE_EXPORT compressImage(const cv::Mat & image, const std::string & format = ".png");
/** @brief Same as @ref compressImage() but returns a @c CV_8UC1 row matrix. */
cv::Mat RTABMAP_CORE_EXPORT compressImage2(const cv::Mat & image, const std::string & format = ".png");
/** @brief Decodes compressed image bytes to a @cv::Mat. */
cv::Mat RTABMAP_CORE_EXPORT uncompressImage(const cv::Mat & bytes);
/** @brief Decodes compressed image bytes to a @cv::Mat. */
cv::Mat RTABMAP_CORE_EXPORT uncompressImage(const std::vector<unsigned char> & bytes);
/** @brief Compresses a matrix with zlib; appends rows, cols and type at the end. */
std::vector<unsigned char> RTABMAP_CORE_EXPORT compressData(const cv::Mat & data);
/** @brief Same as @ref compressData() but returns a @c CV_8UC1 row matrix. */
cv::Mat RTABMAP_CORE_EXPORT compressData2(const cv::Mat & data);
/** @brief Restores a matrix compressed with @ref compressData() or @ref compressData2(). */
cv::Mat RTABMAP_CORE_EXPORT uncompressData(const cv::Mat & bytes);
/** @brief Restores a matrix compressed with @ref compressData() or @ref compressData2(). */
cv::Mat RTABMAP_CORE_EXPORT uncompressData(const std::vector<unsigned char> & bytes);
/** @brief Restores a matrix from a raw compressed buffer. */
cv::Mat RTABMAP_CORE_EXPORT uncompressData(const unsigned char * bytes, unsigned long size);
/** @brief Compresses a null-terminated string using @ref compressData2(). */
cv::Mat RTABMAP_CORE_EXPORT compressString(const std::string & str);
/** @brief Decompresses a string produced by @ref compressString(). */
std::string RTABMAP_CORE_EXPORT uncompressString(const cv::Mat & bytes);
/**
* @brief Detects the compression format of depth image bytes.
* @return @c ".rvl" if the buffer has an RVL signature, otherwise @c ".png".
*/
std::string RTABMAP_CORE_EXPORT compressedDepthFormat(const cv::Mat & bytes);
/** @overload */
std::string RTABMAP_CORE_EXPORT compressedDepthFormat(const std::vector<unsigned char> & bytes);
/** @overload */
std::string RTABMAP_CORE_EXPORT compressedDepthFormat(const unsigned char * bytes, size_t size);
} /* namespace rtabmap */