SensorData: updated how compressed user_data is detected

corelib/include/rtabmap/core/Memory.h

@@ -133,6 +133,13 @@ public:
 	int getSignatureIdByLabel(const std::string & label, bool lookInDatabase = true) const;
 	bool labelSignature(int id, const std::string & label);
 	std::map<int, std::string> getAllLabels() const;
+	/**
+	 * Set user data. Detect automatically if raw or compressed. If raw, the data is
+	 * compressed too. A matrix of type CV_8UC1 with 1 row is considered as compressed.
+	 * If you have one dimension unsigned 8 bits raw data, make sure to transpose it
+	 * (to have multiple rows instead of multiple columns) in order to be detected as
+	 * not compressed.
+	 */
 	bool setUserData(int id, const cv::Mat & data);
 	int getDatabaseMemoryUsed() const; // in bytes
 	std::string getDatabaseVersion() const;

corelib/include/rtabmap/core/Rtabmap.h

@@ -101,6 +101,13 @@ public:
 
 	int triggerNewMap();
 	bool labelLocation(int id, const std::string & label);
+	/**
+	 * Set user data. Detect automatically if raw or compressed. If raw, the data is
+	 * compressed too. A matrix of type CV_8UC1 with 1 row is considered as compressed.
+	 * If you have one dimension unsigned 8 bits raw data, make sure to transpose it
+	 * (to have multiple rows instead of multiple columns) in order to be detected as
+	 * not compressed.
+	 */
 	bool setUserData(int id, const cv::Mat & data);
 	void generateDOTGraph(const std::string & path, int id=0, int margin=5);
 	void exportPoses(

corelib/include/rtabmap/core/SensorData.h

@@ -187,7 +187,14 @@ public:
 	const StereoCameraModel & stereoCameraModel() const {return _stereoCameraModel;}
 
 	void setUserDataRaw(const cv::Mat & userDataRaw); // only set raw
-	void setUserData(const cv::Mat & userData); // detect automatically if raw or compressed. If raw, the data is compressed too.
+	/**
+	 * Set user data. Detect automatically if raw or compressed. If raw, the data is
+	 * compressed too. A matrix of type CV_8UC1 with 1 row is considered as compressed.
+	 * If you have one dimension unsigned 8 bits raw data, make sure to transpose it
+	 * (to have multiple rows instead of multiple columns) in order to be detected as
+	 * not compressed.
+	 */
+	void setUserData(const cv::Mat & userData);
 	const cv::Mat & userDataRaw() const {return _userDataRaw;}
 	const cv::Mat & userDataCompressed() const {return _userDataCompressed;}
 

corelib/src/SensorData.cpp

@@ -64,7 +64,7 @@ SensorData::SensorData(
 		_imageRaw = image;
 	}
 
-	if(userData.type() == CV_8UC1) // Bytes
+	 if(userData.type() == CV_8UC1 &&  userData.rows == 1 && userData.cols > int(3*sizeof(int))) // Bytes
 	{
 		_userDataCompressed = userData; // assume compressed
 	}
@@ -98,7 +98,7 @@ SensorData::SensorData(
 		_imageRaw = image;
 	}
 
-	if(userData.type() == CV_8UC1) // Bytes
+	 if(userData.type() == CV_8UC1 &&  userData.rows == 1 && userData.cols > int(3*sizeof(int))) // Bytes
 	{
 		_userDataCompressed = userData; // assume compressed
 	}
@@ -145,7 +145,7 @@ SensorData::SensorData(
 		_depthOrRightRaw = depth;
 	}
 
-	if(userData.type() == CV_8UC1) // Bytes
+	 if(userData.type() == CV_8UC1 &&  userData.rows == 1 && userData.cols > int(3*sizeof(int))) // Bytes
 	{
 		_userDataCompressed = userData; // assume compressed
 	}
@@ -204,7 +204,7 @@ SensorData::SensorData(
 		_laserScanCompressed = laserScan;
 	}
 
-	if(userData.type() == CV_8UC1) // Bytes
+	 if(userData.type() == CV_8UC1 &&  userData.rows == 1 && userData.cols > int(3*sizeof(int))) // Bytes
 	{
 		_userDataCompressed = userData; // assume compressed
 	}
@@ -250,7 +250,7 @@ SensorData::SensorData(
 		_depthOrRightRaw = depth;
 	}
 
-	if(userData.type() == CV_8UC1) // Bytes
+	 if(userData.type() == CV_8UC1 &&  userData.rows == 1 && userData.cols > int(3*sizeof(int))) // Bytes
 	{
 		_userDataCompressed = userData; // assume compressed
 	}
@@ -309,7 +309,7 @@ SensorData::SensorData(
 		_laserScanCompressed = laserScan;
 	}
 
-	if(userData.type() == CV_8UC1) // Bytes
+	 if(userData.type() == CV_8UC1 &&  userData.rows == 1 && userData.cols > int(3*sizeof(int))) // Bytes
 	{
 		_userDataCompressed = userData; // assume compressed
 	}
@@ -356,7 +356,7 @@ SensorData::SensorData(
 		_depthOrRightRaw = right;
 	}
 
-	if(userData.type() == CV_8UC1) // Bytes
+	 if(userData.type() == CV_8UC1 &&  userData.rows == 1 && userData.cols > int(3*sizeof(int))) // Bytes
 	{
 		_userDataCompressed = userData; // assume compressed
 	}
@@ -415,7 +415,7 @@ SensorData::SensorData(
 		_laserScanCompressed = laserScan;
 	}
 
-	if(userData.type() == CV_8UC1) // Bytes
+	 if(userData.type() == CV_8UC1 &&  userData.rows == 1 && userData.cols > int(3*sizeof(int))) // Bytes
 	{
 		_userDataCompressed = userData; // assume compressed
 	}
@@ -459,7 +459,7 @@ void SensorData::setUserData(const cv::Mat & userData)
 
 	if(!userData.empty())
 	{
-		if(userData.type() == CV_8UC1) // Bytes
+		 if(userData.type() == CV_8UC1 &&  userData.rows == 1 && userData.cols > int(3*sizeof(int))) // Bytes
 		{
 			_userDataCompressed = userData; // assume compressed
 		}