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added lazy decoding check

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matlabbe
2026-10-03 16:47:23 -07:00
parent c605506267
commit ec247e7994
2 changed files with 40 additions and 2 deletions
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corelib/src/Memory.cpp
+4 -2
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@@ -5246,7 +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 ||
@@ -5254,7 +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
corelib/test/test_memory.cpp
+36
View File
@@ -4770,3 +4770,39 @@ INSTANTIATE_TEST_SUITE_P(
InverseDepthCase{"0.23.0", kCompressedDepthOnly, ".rvl:10:100", true, ".png"}, // decompressed, re-compressed
InverseDepthCase{"", kRawDepth, ".rvl", true, ".png"}, // RVL is 16UC1 only: legacy
InverseDepthCase{"", kRawDepth, ".jpg", true, ".png"})); // invalid: default ".rvl"
// Compressed images that Memory rectifies (Rtabmap/ImagesAlreadyRectified=false) are
// decoded for it, even when nothing else needs them (no feature extraction here): they
// are stored rectified, not as received.
TEST(MemoryTest, DecodesCompressedImagesToRectifyThem)
{
for(bool alreadyRectified : {true, false})
{
SCOPED_TRACE(alreadyRectified ? "already rectified" : "rectified by Memory");
ParametersMap params = defaultMemoryParams();
params[Parameters::kMemBinDataKept()] = "true";
params[Parameters::kRtabmapImagesAlreadyRectified()] = alreadyRectified ? "true" : "false";
Memory memory(params);
ASSERT_TRUE(memory.init(""));
cv::Mat rgb(48, 64, CV_8UC3);
cv::randu(rgb, 0, 255);
const cv::Mat K = (cv::Mat_<double>(3, 3) << 50, 0, 32, 0, 50, 24, 0, 0, 1);
const cv::Mat D = (cv::Mat_<double>(1, 5) << -0.3, 0.1, 0, 0, 0);
const cv::Mat R = cv::Mat::eye(3, 3, CV_64FC1);
const cv::Mat P = (cv::Mat_<double>(3, 4) << 50, 0, 32, 0, 0, 50, 24, 0, 0, 0, 1, 0);
const CameraModel model("cam", cv::Size(64, 48), K, D, R, P, CameraModel::opticalRotation());
ASSERT_TRUE(model.isValidForRectification());
const cv::Mat compressed = compressImage2(rgb, ".png");
SensorData data(compressed, cv::Mat(), model);
ASSERT_TRUE(memory.update(data, Transform(0, 0, 0, 0, 0, 0), cv::Mat::eye(6, 6, CV_64FC1) * 0.01));
const Signature * s = memory.getSignature(memory.getLastSignatureId());
ASSERT_NE(s, nullptr);
const cv::Mat & stored = s->sensorData().imageCompressed();
ASSERT_FALSE(stored.empty());
const bool sameBytes = stored.total() == compressed.total() &&
memcmp(stored.data, compressed.data, compressed.total()) == 0;
EXPECT_EQ(sameBytes, alreadyRectified);
}
}