[DATA-535] Create an orbslam integration test that runs mono YCbCr im… (

#1502)
viamrobotics · Oct 17, 2022 · f25869d · f25869d
1 parent a829e1f
commit f25869d
Show file tree

Hide file tree

Showing 6 changed files with 243 additions and 196 deletions.
diff --git a/.artifact/tree.json b/.artifact/tree.json
@@ -50802,129 +50802,67 @@
         }
       }
     },
-    "temp_mock_camera": {
-      "color": {
-        "0.png": {
-          "hash": "d6a4ad2b5d0a07cb42ce0a968bdd2d1e",
-          "size": 1074038
-        },
-        "1.png": {
-          "hash": "bf162ae919b499fb2a31c1c0651bc7e7",
-          "size": 1110424
-        },
-        "10.png": {
-          "hash": "7ecd6687e8af2f741b74fd6d61e5b94f",
-          "size": 1262970
-        },
-        "11.png": {
-          "hash": "e49a10305cd6444d65a2e259e092dcf3",
-          "size": 1320711
-        },
-        "12.png": {
-          "hash": "ccc96509aecebfcad460f66a8980ea9b",
-          "size": 1383680
-        },
-        "13.png": {
-          "hash": "a54e3cad45855001accb0f3e90cc4901",
-          "size": 1232388
-        },
-        "14.png": {
-          "hash": "2d0fcc43e04cfa64533f066f08286c8c",
-          "size": 1319859
-        },
-        "2.png": {
-          "hash": "561f98f2fdb955118c396071cb768711",
-          "size": 1113264
-        },
-        "3.png": {
-          "hash": "0b1245610799dfc255a39c7b28592839",
-          "size": 1126246
-        },
-        "4.png": {
-          "hash": "f87169c5c85b32e255f59aa50856ff27",
-          "size": 1126679
-        },
-        "5.png": {
-          "hash": "769088a8ebdbb1ce2979b64808ac707d",
-          "size": 1108197
-        },
-        "6.png": {
-          "hash": "fcc66c01f0f1cb5c200d0b3a67d0991e",
-          "size": 1118615
-        },
-        "7.png": {
-          "hash": "f81538daa0836653b935b97c99a60142",
-          "size": 1094447
-        },
-        "8.png": {
-          "hash": "9668c21a11b5abedb1254770dafb959d",
-          "size": 1246588
-        },
-        "9.png": {
-          "hash": "5e6afad5bf9912b1d69ed06d357f0b36",
-          "size": 1269381
-        }
-      },
-      "depth": {
+    "mock_mono_camera": {
+      "rgb": {
         "0.png": {
-          "hash": "e49b03a3e9fe6a9e41d67e3308a70120",
-          "size": 245153
+          "hash": "c4dc7ae86a546684f3c9cbe0e47acf55",
+          "size": 834386
         },
         "1.png": {
-          "hash": "34e0a2ae549be6f507b8f4e27f31f2e2",
-          "size": 345685
+          "hash": "c4dc7ae86a546684f3c9cbe0e47acf55",
+          "size": 834386
         },
         "10.png": {
-          "hash": "65517158a4175157ab3636e1ef9ac90d",
-          "size": 500936
+          "hash": "97cb4afc22754e0433303ae8b44d380f",
+          "size": 813831
         },
         "11.png": {
-          "hash": "593e152cea83f14e1c4b4cec78e0b33b",
-          "size": 528680
+          "hash": "f87b5643a7b58bc4cdf231ab096038b7",
+          "size": 833993
         },
         "12.png": {
-          "hash": "0abc4c2361127eb343572390c8d9f35c",
-          "size": 528095
+          "hash": "f87b5643a7b58bc4cdf231ab096038b7",
+          "size": 833993
         },
         "13.png": {
-          "hash": "3f28b21a7206a6e6cc109fd2b03d432b",
-          "size": 526535
+          "hash": "c40ec042eb926ed5e012c0a505b0453d",
+          "size": 787645
         },
         "14.png": {
-          "hash": "f5142f9dbe12b339f8b4a0b92abe22f9",
-          "size": 485705
+          "hash": "87f3db7908d0455ffe3b2a51093abe16",
+          "size": 824040
         },
         "2.png": {
-          "hash": "34e0a2ae549be6f507b8f4e27f31f2e2",
-          "size": 345685
+          "hash": "c4dc7ae86a546684f3c9cbe0e47acf55",
+          "size": 834386
         },
         "3.png": {
-          "hash": "2a3b9d6fa3177270c8be3fc48f12b6e9",
-          "size": 480005
+          "hash": "c4dc7ae86a546684f3c9cbe0e47acf55",
+          "size": 834386
         },
         "4.png": {
-          "hash": "59765705cd3ff8331b908f5a2f2b7d20",
-          "size": 479413
+          "hash": "f87b5643a7b58bc4cdf231ab096038b7",
+          "size": 833993
         },
         "5.png": {
-          "hash": "bbb525470e857878207ce030a0d78b26",
-          "size": 479728
+          "hash": "f87b5643a7b58bc4cdf231ab096038b7",
+          "size": 833993
         },
         "6.png": {
-          "hash": "ed4df21dd6036b0cda823de71dd81c53",
-          "size": 513825
+          "hash": "d17c07b754a6c274915a94a2dd978c02",
+          "size": 819850
         },
         "7.png": {
-          "hash": "b37632c463e4a4a78b3bcd172a215ea5",
-          "size": 511135
+          "hash": "87f3db7908d0455ffe3b2a51093abe16",
+          "size": 824040
         },
         "8.png": {
-          "hash": "95683c3b3c6a93282c3d06fabcd149ed",
-          "size": 503015
+          "hash": "c40ec042eb926ed5e012c0a505b0453d",
+          "size": 787645
         },
         "9.png": {
-          "hash": "fcac230bb47d1617838e48fe3ca10f56",
-          "size": 505238
+          "hash": "97cb4afc22754e0433303ae8b44d380f",
+          "size": 813831
         }
       }
     }

diff --git a/rimage/image_processing.go b/rimage/image_processing.go
@@ -508,3 +508,51 @@ func EdgeHysteresisFiltering(mag *mat.Dense, low, high float64) (*image.Gray, er
 	}
 	return edges, nil
 }
+
+// ImageToYCbCrForTesting converts an image to YCbCr. It is only to be used for testing.
+func ImageToYCbCrForTesting(dst *image.YCbCr, src image.Image) {
+	if dst == nil {
+		panic("dst can't be nil")
+	}
+
+	yuvImg, ok := src.(*image.YCbCr)
+	if ok {
+		*dst = *yuvImg
+		return
+	}
+
+	bounds := src.Bounds()
+	dy := bounds.Dy()
+	dx := bounds.Dx()
+	flat := dy * dx
+
+	if len(dst.Y)+len(dst.Cb)+len(dst.Cr) < 3*flat {
+		i0 := 1 * flat
+		i1 := 2 * flat
+		i2 := 3 * flat
+		if cap(dst.Y) < i2 {
+			dst.Y = make([]uint8, i2)
+		}
+		dst.Y = dst.Y[:i0]
+		dst.Cb = dst.Y[i0:i1]
+		dst.Cr = dst.Y[i1:i2]
+	}
+	dst.SubsampleRatio = image.YCbCrSubsampleRatio444
+	dst.YStride = dx
+	dst.CStride = dx
+	dst.Rect = bounds
+
+	i := 0
+	for yi := 0; yi < dy; yi++ {
+		for xi := 0; xi < dx; xi++ {
+			// TODO(erh): probably try to get the alpha value with something like
+			// https://en.wikipedia.org/wiki/Alpha_compositing
+			r, g, b, _ := src.At(xi, yi).RGBA()
+			yy, cb, cr := color.RGBToYCbCr(uint8(r/256), uint8(g/256), uint8(b/256))
+			dst.Y[i] = yy
+			dst.Cb[i] = cb
+			dst.Cr[i] = cr
+			i++
+		}
+	}
+}
diff --git a/rimage/image_processing_test.go b/rimage/image_processing_test.go
@@ -3,7 +3,6 @@ package rimage
 import (
 	"fmt"
 	"image"
-	"image/color"
 	"math"
 	"testing"
 
@@ -116,59 +115,12 @@ func BenchmarkConvertImage(b *testing.B) {
 	}
 }
 
-func imageToYCbCr(dst *image.YCbCr, src image.Image) {
-	if dst == nil {
-		panic("dst can't be nil")
-	}
-
-	yuvImg, ok := src.(*image.YCbCr)
-	if ok {
-		*dst = *yuvImg
-		return
-	}
-
-	bounds := src.Bounds()
-	dy := bounds.Dy()
-	dx := bounds.Dx()
-	flat := dy * dx
-
-	if len(dst.Y)+len(dst.Cb)+len(dst.Cr) < 3*flat {
-		i0 := 1 * flat
-		i1 := 2 * flat
-		i2 := 3 * flat
-		if cap(dst.Y) < i2 {
-			dst.Y = make([]uint8, i2)
-		}
-		dst.Y = dst.Y[:i0]
-		dst.Cb = dst.Y[i0:i1]
-		dst.Cr = dst.Y[i1:i2]
-	}
-	dst.SubsampleRatio = image.YCbCrSubsampleRatio444
-	dst.YStride = dx
-	dst.CStride = dx
-	dst.Rect = bounds
-
-	i := 0
-	for yi := 0; yi < dy; yi++ {
-		for xi := 0; xi < dx; xi++ {
-			// TODO(erh): probably try to get the alpha value with something like
-			// https://en.wikipedia.org/wiki/Alpha_compositing
-			r, g, b, _ := src.At(xi, yi).RGBA()
-			yy, cb, cr := color.RGBToYCbCr(uint8(r/256), uint8(g/256), uint8(b/256))
-			dst.Y[i] = yy
-			dst.Cb[i] = cb
-			dst.Cr[i] = cr
-			i++
-		}
-	}
-}
-
 func TestConvertYCbCr(t *testing.T) {
 	orig, err := readImageFromFile(artifact.MustPath("rimage/canny1.png"))
 	test.That(t, err, test.ShouldBeNil)
 
 	var yuvImg image.YCbCr
-	imageToYCbCr(&yuvImg, orig)
+	ImageToYCbCrForTesting(&yuvImg, orig)
 
 	err = WriteImageToFile(outDir+"/canny1-ycbcr.png", &yuvImg)
 	test.That(t, err, test.ShouldBeNil)
@@ -185,7 +137,7 @@ func BenchmarkConvertImageYCbCr(b *testing.B) {
 	test.That(b, err, test.ShouldBeNil)
 
 	var yuvImg image.YCbCr
-	imageToYCbCr(&yuvImg, orig)
+	ImageToYCbCrForTesting(&yuvImg, orig)
 
 	b.ResetTimer()
 

diff --git a/services/slam/builtin/builtin.go b/services/slam/builtin/builtin.go
@@ -755,7 +755,7 @@ func (slamSvc *builtIn) StopSLAMProcess() error {
 	return nil
 }
 
-func (slamSvc *builtIn) getLazyPNGImage(ctx context.Context, cam camera.Camera) ([]byte, func(), error) {
+func (slamSvc *builtIn) getPNGImage(ctx context.Context, cam camera.Camera) ([]byte, func(), error) {
 	// We will hint that we want a PNG.
 	// The Camera service server implementation in RDK respects this; others may not.
 	img, release, err := camera.ReadImage(
@@ -798,7 +798,7 @@ func (slamSvc *builtIn) getAndSaveDataSparse(
 			return nil, errors.Errorf("expected 1 camera for mono slam, found %v", len(camStreams))
 		}
 
-		image, release, err := slamSvc.getLazyPNGImage(ctx, cams[0])
+		image, release, err := slamSvc.getPNGImage(ctx, cams[0])
 		if err != nil {
 			if err.Error() == opTimeoutErrorMessage {
 				slamSvc.logger.Warnw("Skipping this scan due to error", "error", err)
@@ -893,7 +893,7 @@ func (slamSvc *builtIn) getSimultaneousColorAndDepth(
 		goutils.PanicCapturingGo(func() {
 			defer slamSvc.activeBackgroundWorkers.Done()
 			defer wg.Done()
-			images[iLoop], releaseFuncs[iLoop], errs[iLoop] = slamSvc.getLazyPNGImage(ctx, cams[iLoop])
+			images[iLoop], releaseFuncs[iLoop], errs[iLoop] = slamSvc.getPNGImage(ctx, cams[iLoop])
 		})
 	}
 	wg.Wait()