Added netvlad_tf_ros.py script, added compression.py script to compress/uncompress data from rtabmap

python/rtabmap_ros/__init__.py

@@ -0,0 +1,2 @@
+
+

python/rtabmap_ros/compression.py

@@ -0,0 +1,34 @@
+
+import zlib
+import struct
+import numpy as np
+
+def compress(data):
+    assert data.ndim == 1 or data.ndim == 2
+
+    dim1 = 1
+    if data.ndim == 1:
+        dim1 = 1
+        dim2 = len(data)
+    else:
+        dim1 = data.shape[0]
+        dim2 = data.shape[1]
+
+    numpy_type_to_cvtype = {'uint8': 0, 'int8': 1, 'uint16': 2,
+                            'int16': 3, 'int32': 4, 'float32': 5,
+                            'float64': 6}
+
+    compressed_data = bytearray(zlib.compress(data.tobytes()))
+    compressed_data.extend(struct.pack("iii", dim1, dim2, numpy_type_to_cvtype[data.dtype.name]))
+
+    return compressed_data
+
+def uncompress(bytes):
+    cvtype_to_numpy_type = {0: 'uint8', 1: 'int8', 2: 'uint16',
+                            3: 'int16', 4: 'int32', 5: 'float32',
+                            6: 'float64'}
+    out = zlib.decompress(bytes[:len(bytes)-3*4])
+    rows, cols, datatype = struct.unpack_from("iii", bytes, offset=len(bytes)-3*4)
+    data = np.frombuffer(out, dtype=cvtype_to_numpy_type[datatype])
+    return data.reshape((rows, cols))
+