[DATA-535] Create an orbslam integration test that runs mono YCbCr im… #1502
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tessavitabile
commented
Oct 14, 2022
| @@ -508,3 +508,51 @@ func EdgeHysteresisFiltering(mag *mat.Dense, low, high float64) (*image.Gray, er | |||
| } | |||
| return edges, nil | |||
| } | |||
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| // ImageToYCbCrForTesting converts an image to YCbCr. It is only to be used for testing. | |||
| func ImageToYCbCrForTesting(dst *image.YCbCr, src image.Image) { | |||
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I couldn't find another was to convert to YCbCr, so I exported this function. Let me know if you have another idea!
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you can probably use the draw.Draw function to do this
import "image/draw"
func MakeYCbCr(pic image.Image) *image.YCbCr {
result := image.NewYCbCr(pic.Bounds())
draw.Draw(result, result.Bounds(), pic, pic.Bounds().Min, draw.Src)
return result
}
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It doesn't look like I can do this, since image.YCbCr doesn't implement draw.Image (missing method Set).
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oh wow, yea it looks like YCbCr isn't pixel addressable! So, yea, this function seems like the best bet for now
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Just found an alternative - but if you would like to stick to using one set of images (the png sources) then what you have now seems like the way to go
| "mode": "rgbd", | ||
| "orb_n_features": "1000", | ||
| "mode": reflect.ValueOf(mode).String(), | ||
| "orb_n_features": "1250", |
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I decided to change orb_n_features to its default here.
bhaney
approved these changes
Oct 17, 2022
Comment on lines
+372
to
+386
| imgBytes, err := os.ReadFile(artifact.MustPath("slam/mock_mono_camera/rgb/" + strconv.FormatUint(i, 10) + ".png")) | ||
| if err != nil { | ||
| return nil, err | ||
| } | ||
| img, _, err := image.Decode(bytes.NewReader(imgBytes)) | ||
| if err != nil { | ||
| return nil, err | ||
| } | ||
| var ycbcrImg image.YCbCr | ||
| rimage.ImageToYCbCrForTesting(&ycbcrImg, img) | ||
| return gostream.NewEmbeddedVideoStreamFromReader( | ||
| gostream.VideoReaderFunc(func(ctx context.Context) (image.Image, func(), error) { | ||
| return &ycbcrImg, func() {}, nil | ||
| }), | ||
| ), nil |
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If you had JPEG images, you could use the github.com/pixiv/go-libjpeg package and use its Decode function, which outputs YCbCr images directly: github.com/pixiv/go-libjpeg
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But you need the libjpeg library to use that package - which may not be present on our CI/canon
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Thanks for the idea! I think I'll leave as is.
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