From ec247e7994d03a7987622822dd6eb6bef0ab07d7 Mon Sep 17 00:00:00 2001
From: matlabbe <matlabbe@gmail.com>
Date: Sat, 3 Oct 2026 16:47:23 -0700
Subject: [PATCH] added lazy decoding check

---
 corelib/src/Memory.cpp       |  6 ++++--
 corelib/test/test_memory.cpp | 36 ++++++++++++++++++++++++++++++++++++
 2 files changed, 40 insertions(+), 2 deletions(-)

diff --git a/corelib/src/Memory.cpp b/corelib/src/Memory.cpp
index a392d73f..82eea94e 100644
--- a/corelib/src/Memory.cpp
+++ b/corelib/src/Memory.cpp
@@ -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
diff --git a/corelib/test/test_memory.cpp b/corelib/test/test_memory.cpp
index 7a38a3fc..bda4a611 100644
--- a/corelib/test/test_memory.cpp
+++ b/corelib/test/test_memory.cpp
@@ -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);
+	}
+}