i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-10-12 12:59:51 +08:00
Code Issues Packages Projects Releases Wiki Activity

Support Inverted Depth compression (with png or rvl) (#1785)

Browse Source 
* Support Inverted Depth compression (with png or rvl)

* Updated parameter's ui description

* ios: fixing minor version bump

* Improved test coverage for this branch

* fixing opencv debug assert

* SensorData: ignore invalid CameraModel

* added lazy decoding check
This commit is contained in:
matlabbe
2026-10-03 19:24:14 -07:00
committed by GitHub
parent a4e7f13522
commit aa95581cd2
17 changed files with 1113 additions and 78 deletions
Download Patch File Download Diff File Expand all files Collapse all files
corelib/src/Memory.cpp
+72 -11
View File
@@ -102,6 +102,7 @@ Memory::Memory(const ParametersMap & parameters) :
_imagePreDecimation(Parameters::defaultMemImagePreDecimation()),
_imagePostDecimation(Parameters::defaultMemImagePostDecimation()),
_legacyDecimatedOctave(false),
_inverseDepthCompressionAllowed(true),
_compressionParallelized(Parameters::defaultMemCompressionParallelized()),
_laserScanDownsampleStepSize(Parameters::defaultMemLaserScanDownsampleStepSize()),
_laserScanVoxelSize(Parameters::defaultMemLaserScanVoxelSize()),
@@ -228,6 +229,11 @@ bool Memory::init(const std::string & dbUrl, bool dbOverwritten, const Parameter
// filling it that way; a new one gets the corrected scaling.
_legacyDecimatedOctave =
uStrNumCmp(_dbDriver->getDatabaseVersion(), "0.23.12") < 0;
// Depth images compressed as inverse depth cannot be read before 0.24, which
// would still open databases created with Db/TargetVersion < 0.24 or by an
// older version.
_inverseDepthCompressionAllowed =
uStrNumCmp(_dbDriver->getDatabaseVersion(), "0.24.0") >= 0;
// Only where the descriptors stored in the map end up different: keypoints
// from odometry, scaled into the pre-decimated image before being described.
if(_legacyDecimatedOctave && _useOdometryFeatures && _imagePreDecimation > 1)
@@ -826,6 +832,19 @@ void Memory::parseParameters(const ParametersMap & parameters)
Parameters::parse(params, Parameters::kMemIntermediateNodeDataKept(), _saveIntermediateNodeData);
Parameters::parse(params, Parameters::kMemImageCompressionFormat(), _rgbCompressionFormat);
Parameters::parse(params, Parameters::kMemDepthCompressionFormat(), _depthCompressionFormat);
{
std::string codec;
float maxDepth, quantization;
if(!parseImageCompressionFormat(_depthCompressionFormat, codec, maxDepth, quantization) ||
(codec != ".png" && codec != ".rvl"))
{
UWARN("Invalid %s=\"%s\", using default \"%s\".",
Parameters::kMemDepthCompressionFormat().c_str(),
_depthCompressionFormat.c_str(),
Parameters::defaultMemDepthCompressionFormat().c_str());
_depthCompressionFormat = Parameters::defaultMemDepthCompressionFormat();
}
}
Parameters::parse(params, Parameters::kMemRehearsalIdUpdatedToNewOne(), _idUpdatedToNewOneRehearsal);
Parameters::parse(params, Parameters::kMemGenerateIds(), _generateIds);
Parameters::parse(params, Parameters::kMemBadSignaturesIgnored(), _badSignaturesIgnored);
@@ -5227,7 +5246,7 @@ Signature * Memory::createSignature(const SensorData & inputData, const Transfor
if(!isIntermediateNode)
{
// We need raw images if we need to extract features and/or do tag detection
bool needRawImages = _feature2D->getMaxFeatures() >= 0 &&
bool needRawImages = (_feature2D->getMaxFeatures() >= 0 &&
(!_useOdometryFeatures ||
data.keypoints().empty() ||
(int)data.keypoints().size() != data.descriptors().rows ||
@@ -5235,7 +5254,9 @@ Signature * Memory::createSignature(const SensorData & inputData, const Transfor
_detectMarkers ||
_rotateImagesUpsideUp ||
_imagePostDecimation > 1 ||
(_createOccupancyGrid && _localMapMaker->isGridFromDepth()));
(_createOccupancyGrid && _localMapMaker->isGridFromDepth()))) ||
// Images rectified below: stereo always, RGB-D unless only its features are
(!_imagesAlreadyRectified && !(_rectifyOnlyFeatures && data.stereoCameraModels().empty()));
// Note: we could avoid uncompressing scan if we don't do any filtering
// and if we don't use it for local occupancy grid
@@ -6625,6 +6646,44 @@ Signature * Memory::createSignature(const SensorData & inputData, const Transfor
std::vector<unsigned char> imageBytes;
std::vector<unsigned char> depthBytes;
std::string depthCompressionFormat = _depthCompressionFormat;
bool reuseCompressedDepth =
depthOrRightImage.data == data.depthOrRightRaw().data &&
!data.depthOrRightCompressed().empty();
if(!_inverseDepthCompressionAllowed)
{
std::string codec;
float maxDepth, quantization;
if(parseImageCompressionFormat(depthCompressionFormat, codec, maxDepth, quantization) && maxDepth > 0.0f)
{
static bool warned = false;
if(!warned)
{
UWARN("%s=\"%s\": inverse depth compression format is not compatible with database "
"version %s (requires >= 0.24, see %s), \"%s\" format is used instead. This "
"warning is only printed once.",
Parameters::kMemDepthCompressionFormat().c_str(),
depthCompressionFormat.c_str(),
_dbDriver?_dbDriver->getDatabaseVersion().c_str():"",
Parameters::kDbTargetVersion().c_str(),
codec.c_str());
warned = true;
}
depthCompressionFormat = codec;
}
if(reuseCompressedDepth &&
compressedDepthFormat(data.depthOrRightCompressed()).find(':') != std::string::npos)
{
// Already compressed as inverse depth (e.g., received from ROS's
// compressed_depth_image_transport), re-compress it.
reuseCompressedDepth = false;
if(depthOrRightImage.empty())
{
depthOrRightImage = uncompressImage(data.depthOrRightCompressed());
}
}
}
if(!depthOrRightImage.empty() && depthOrRightImage.type() == CV_32FC1)
{
if(_saveDepth16Format)
@@ -6640,7 +6699,7 @@ Signature * Memory::createSignature(const SensorData & inputData, const Transfor
}
depthOrRightImage = util2d::cvtDepthFromFloat(depthOrRightImage);
}
else if(_depthCompressionFormat == ".rvl")
else if(depthCompressionFormat == ".rvl")
{
static bool warned = false;
if(!warned)
@@ -6650,13 +6709,16 @@ Signature * Memory::createSignature(const SensorData & inputData, const Transfor
"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\" "
"remove all depth values over 65 meters). Set %s=\".rvl:<maxDepth>:<quantization>\" "
"(e.g., \".rvl:10:100\") to compress them in RVL as 16 bits inverse depth "
"(lossy, see parameter's description). 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(),
depthCompressionFormat.c_str(),
Parameters::kMemSaveDepth16Format().c_str(),
_depthCompressionFormat.c_str(),
depthCompressionFormat.c_str(),
Parameters::kMemDepthCompressionFormat().c_str(),
Parameters::kMemDepthCompressionFormat().c_str());
warned = true;
}
@@ -6666,9 +6728,8 @@ Signature * Memory::createSignature(const SensorData & inputData, const Transfor
bool reuseCompressedImage =
image.data == data.imageRaw().data &&
!data.imageCompressed().empty();
bool reuseCompressedDepth =
depthOrRightImage.data == data.depthOrRightRaw().data &&
!data.depthOrRightCompressed().empty();
reuseCompressedDepth = reuseCompressedDepth &&
depthOrRightImage.data == data.depthOrRightRaw().data;
bool reuseCompressedDepthConfidence =
depthConfidence.data == data.depthConfidenceRaw().data &&
!data.depthConfidenceCompressed().empty();
@@ -6685,7 +6746,7 @@ 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?_depthCompressionFormat:_rgbCompressionFormat);
rtabmap::CompressionThread ctDepth(depthOrRightImage, depthOrRightImage.type() == CV_32FC1 || depthOrRightImage.type() == CV_16UC1?depthCompressionFormat:_rgbCompressionFormat);
rtabmap::CompressionThread ctDepthConfidence(depthConfidence);
rtabmap::CompressionThread ctLaserScan(laserScan.data());
rtabmap::CompressionThread ctUserData(data.userDataRaw());
@@ -6724,7 +6785,7 @@ Signature * Memory::createSignature(const SensorData & inputData, const Transfor
else
{
compressedImage = reuseCompressedImage?cv::Mat():compressImage2(image, _rgbCompressionFormat);
compressedDepth = reuseCompressedDepth?cv::Mat():compressImage2(depthOrRightImage, depthOrRightImage.type() == CV_32FC1 || depthOrRightImage.type() == CV_16UC1?_depthCompressionFormat:_rgbCompressionFormat);
compressedDepth = reuseCompressedDepth?cv::Mat():compressImage2(depthOrRightImage, depthOrRightImage.type() == CV_32FC1 || depthOrRightImage.type() == CV_16UC1?depthCompressionFormat:_rgbCompressionFormat);
compressedDepthConfidence = reuseCompressedDepthConfidence?cv::Mat():compressData2(depthConfidence);
compressedScan = reuseCompressedScan?data.laserScanCompressed().data():compressData2(laserScan.data());
compressedUserData = reuseCompressedUserData?data.userDataCompressed():compressData2(data.userDataRaw());