Merge branch 'add_kimera_spectacular_data_provider' of github.com:ewf…

…uentes/robot into add_kimera_spectacular_data_provider
ewfuentes · Dec 16, 2024 · ac5cbbc · ac5cbbc
2 parents 9c8f60c + 7939f22
commit ac5cbbc
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Showing 5 changed files with 15 additions and 8 deletions.
diff --git a/WORKSPACE b/WORKSPACE
@@ -552,9 +552,9 @@ http_archive(
 
 http_archive(
   name = "spectacular_log_snippet",
-  urls = ["https://www.dropbox.com/scl/fi/2u4ec000kx24980t7ifjz/recording_2024-11-21_13-36-30.zip?rlkey=ojw96yykmw9crtqs15kbxwnvp&st=gjcrawhw&dl=1"],
+  urls = ["https://www.dropbox.com/scl/fi/6y2x4nstw7h3xx6jvbzzg/20241212_150605.zip?rlkey=rwktg7egzki7vqeq9qpfaml1l&dl=1"],
   build_file = "//third_party:BUILD.zip_file",
-  integrity = "sha256-K+KFNzufwccL4vEJLErEtNKNVjnWStClXVF2mKpI6lI="
+  integrity = "sha256-7WD3AyKE+v7fA6ohAqk1UXBU+i2n9uH/6HcovNhORhA="
 )
 
 http_archive(

diff --git a/common/video/image_compare.cc b/common/video/image_compare.cc
@@ -7,8 +7,17 @@ bool images_equal(const cv::Mat& img1, const cv::Mat& img2) {
         return false;
     }
     cv::Mat diff;
-    cv::absdiff(img1, img2, diff);
+    if (img1.type() == CV_32F) {
+        cv::Mat img1_no_nan = img1;
+        cv::Mat img2_no_nan = img2;
+        cv::patchNaNs(img1_no_nan);
+        cv::patchNaNs(img2_no_nan);
+        cv::absdiff(img1_no_nan, img2_no_nan, diff);
+    } else {
+        cv::absdiff(img1, img2, diff);
+    }
     diff = diff.reshape(1);
+
     return cv::countNonZero(diff) == 0;
 }
 

diff --git a/common/video/image_compare.hh b/common/video/image_compare.hh
@@ -6,4 +6,4 @@ namespace robot::common::video {
 
 bool images_equal(const cv::Mat& img1, const cv::Mat& img2);
 
-}
+}
diff --git a/experimental/overhead_matching/kimera_spectacular_data_provider_test.cc b/experimental/overhead_matching/kimera_spectacular_data_provider_test.cc
@@ -94,8 +94,7 @@ bool compare_depth_frame(const std::unique_ptr<VIO::DepthFrame>& kimera_depth,
 
 TEST(KimeraSpectacularDataProviderTest, happy_case) {
     // Setup
-    const std::filesystem::path log_path(
-        "external/spectacular_log_snippet/recording_2024-11-21_13-36-30");
+    const std::filesystem::path log_path("external/spectacular_log_snippet/20241212_150605");
     SpectacularLog log(log_path);
 
     // get initial IMU information

diff --git a/experimental/overhead_matching/spectacular_log_test.cc b/experimental/overhead_matching/spectacular_log_test.cc
@@ -22,8 +22,7 @@ std::ostream &operator<<(std::ostream &out, const time::RobotTimestamp &t) {
 
 TEST(SpectacularLogTest, DISABLED_happy_case) {
     // Setup
-    const std::filesystem::path log_path(
-        "external/spectacular_log_snippet/recording_2024-11-21_13-36-30");
+    const std::filesystem::path log_path("external/spectacular_log_snippet/20241212_150605");
     SpectacularLog log(log_path);
     // Action
Original file line number	Diff line number	Diff line change
Expand Up		@@ -6,4 +6,4 @@ namespace robot::common::video {

		bool images_equal(const cv::Mat& img1, const cv::Mat& img2);

		}
		}