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hotfix opencv5 compressed data compatibility

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matlabbe
2026-08-02 20:54:07 -07:00
parent bef4eaf679
commit bcdb4b4546
1 changed files with 42 additions and 3 deletions
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45
corelib/src/Compression.cpp
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@@ -34,6 +34,41 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
namespace rtabmap {
namespace {
// The compressed blob trailer stores the cv::Mat type as a raw int, and the
// database keeps those blobs forever. OpenCV 5 changed CV_CN_SHIFT from 3 to 5,
// so the very same type has a different numeric value across major versions
// (CV_32FC2 is 13 under OpenCV 4 but 37 under OpenCV 5). Reading an OpenCV 4
// database with an OpenCV 5 build would decode 13 as a 1-channel Mat of a
// nonsense depth.
//
// Persist the OpenCV 4 encoding in both cases: existing databases stay
// readable, and databases written by an OpenCV 5 build stay readable by
// OpenCV 4 builds. Under OpenCV 4 both helpers are the identity.
const int kSerializedCnShift = 3;
const int kSerializedDepthMask = (1 << kSerializedCnShift) - 1;
int serializeMatType(int type)
{
const int depth = CV_MAT_DEPTH(type);
// Only the 8 original depths (CV_8U..CV_16F) fit the on-disk encoding;
// rtabmap never persists the types OpenCV 5 added beyond them.
UASSERT_MSG(depth <= kSerializedDepthMask,
uFormat("Cannot serialize cv::Mat depth %d (type %d): the database "
"format only supports depths 0-%d.",
depth, type, kSerializedDepthMask).c_str());
return depth + ((CV_MAT_CN(type) - 1) << kSerializedCnShift);
}
int deserializeMatType(int serializedType)
{
return CV_MAKETYPE(serializedType & kSerializedDepthMask,
((serializedType >> kSerializedCnShift) & 511) + 1);
}
} // namespace
// format : ".jpg" ".png" ".rvl" "" (empty is general)
CompressionThread::CompressionThread(const cv::Mat & mat, const std::string & format) :
uncompressedData_(mat),
@@ -222,7 +257,7 @@ std::vector<unsigned char> compressData(const cv::Mat & data)
bytes.resize(destLen+3*sizeof(int));
*((int*)&bytes[destLen]) = data.rows;
*((int*)&bytes[destLen+sizeof(int)]) = data.cols;
*((int*)&bytes[destLen+2*sizeof(int)]) = data.type();
*((int*)&bytes[destLen+2*sizeof(int)]) = serializeMatType(data.type());
if(errCode == Z_MEM_ERROR)
{
@@ -252,7 +287,7 @@ cv::Mat compressData2(const cv::Mat & data)
bytes = cv::Mat(bytes, cv::Rect(0,0, destLen+3*sizeof(int), 1));
*((int*)&bytes.data[destLen]) = data.rows;
*((int*)&bytes.data[destLen+sizeof(int)]) = data.cols;
*((int*)&bytes.data[destLen+2*sizeof(int)]) = data.type();
*((int*)&bytes.data[destLen+2*sizeof(int)]) = serializeMatType(data.type());
if(errCode == Z_MEM_ERROR)
{
@@ -285,7 +320,7 @@ cv::Mat uncompressData(const unsigned char * bytes, unsigned long size)
//last 3 int elements are matrix size and type
int height = *((int*)&bytes[size-3*sizeof(int)]);
int width = *((int*)&bytes[size-2*sizeof(int)]);
int type = *((int*)&bytes[size-1*sizeof(int)]);
int type = deserializeMatType(*((int*)&bytes[size-1*sizeof(int)]));
data = cv::Mat(height, width, type);
uLongf totalUncompressed = uLongf(data.total())*uLongf(data.elemSize());
@@ -331,6 +366,10 @@ std::string uncompressString(const cv::Mat & bytes)
std::string compressedDepthFormat(const cv::Mat & bytes)
{
if(bytes.empty())
{
return std::string();
}
return compressedDepthFormat(bytes.data, bytes.rows * bytes.cols * bytes.elemSize());
}
std::string compressedDepthFormat(const std::vector<unsigned char> & bytes)