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Supporting image compression formats passthrough (#1461)

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* Supporting ros depth compression formats passthrough

* Added image_compression_format (support jpg,png). Use Compression.h constants.

* Bridging gap with #1457

* CoreWrapper: decode_images_on_demand

* rgbd_sync->rgbd_split encoding/decoding test with image_transport validation. rgbd_split color passthrough

* more tests

* fixing ci on kilted+

* fixing test

* fixing lyrical tests

* fixing rolling ci

* Improved test coverage

* fixing some tf waitForTransform deadlocks when sim time is used in tests

* CI: build rtabmap_slam on rolling

rtabmap_slam builds without nav2_msgs, which is not on resolute yet: skip its
key instead of leaving the package out. Only rtabmap_costmap_plugins (and the
rtabmap_ros metapackage pulling it in) still need nav2.
This commit is contained in:
matlabbe
2026-10-10 16:05:08 -07:00
committed by GitHub
parent 82f0754bf7
commit cf7d7ab958
47 changed files with 3962 additions and 250 deletions
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rtabmap_sync/test/test_rgb_sync.cpp
+13 -2
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@@ -9,6 +9,7 @@ All rights reserved. (BSD-3-Clause, see the repository root.)
#include <rtabmap_sync/rgb_sync.hpp>
#include <rtabmap/core/Compression.h>
#include <rtabmap_conversions/MsgConversion.h>
#include <string>
#include <vector>
@@ -174,6 +175,16 @@ TEST_F(RGBSyncTest, CompressesColorAsJpeg)
<< "without fill_empty_depth there is nothing to compress on the depth side";
}
TEST_F(RGBSyncTest, ImageCompressionFormatAppliesToTheColorImage)
{
start({rclcpp::Parameter("image_compression_format", std::string(".png"))});
collectCompressed();
publish(1000.0);
ASSERT_TRUE(spinUntil([&]() { return !compressed_->empty(); }));
EXPECT_EQ(compressed_->back().rgb_compressed.format, "bgr8; png compressed bgr8");
}
TEST_F(RGBSyncTest, CompressesTheFakeDepthAsPng)
{
start({rclcpp::Parameter("fill_empty_depth", true)});
@@ -184,8 +195,8 @@ TEST_F(RGBSyncTest, CompressesTheFakeDepthAsPng)
const rtabmap_msgs::msg::RGBDImage & got = compressed_->back();
ASSERT_FALSE(got.depth_compressed.data.empty());
EXPECT_EQ(got.depth_compressed.format, "png");
const cv::Mat depth = rtabmap::uncompressImage(got.depth_compressed.data);
EXPECT_EQ(got.depth_compressed.format, "16UC1; compressedDepth png");
const cv::Mat depth = rtabmap_conversions::uncompressDepthImage(got.depth_compressed)->image;
ASSERT_FALSE(depth.empty());
EXPECT_EQ(depth.type(), CV_16UC1);
EXPECT_EQ(cv::countNonZero(depth), 0) << "the fake depth is all zeros";