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[DATA-535] Create an orbslam integration test that runs mono YCbCr im… #1502

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Oct 17, 2022
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[DATA-535] Create an orbslam integration test that runs mono YCbCr im… #1502

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7481d2f
[DATA-535] Create an orbslam integration test that runs mono YCbCr im…
tessavitabile Oct 14, 2022
a878c8c
remove unused temp_mock_camera
tessavitabile Oct 14, 2022
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64 changes: 64 additions & 0 deletions .artifact/tree.json
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Original file line number Diff line number Diff line change
Expand Up @@ -50802,6 +50802,70 @@
}
}
},
"mock_mono_camera": {
"rgb": {
"0.png": {
"hash": "c4dc7ae86a546684f3c9cbe0e47acf55",
"size": 834386
},
"1.png": {
"hash": "c4dc7ae86a546684f3c9cbe0e47acf55",
"size": 834386
},
"10.png": {
"hash": "97cb4afc22754e0433303ae8b44d380f",
"size": 813831
},
"11.png": {
"hash": "f87b5643a7b58bc4cdf231ab096038b7",
"size": 833993
},
"12.png": {
"hash": "f87b5643a7b58bc4cdf231ab096038b7",
"size": 833993
},
"13.png": {
"hash": "c40ec042eb926ed5e012c0a505b0453d",
"size": 787645
},
"14.png": {
"hash": "87f3db7908d0455ffe3b2a51093abe16",
"size": 824040
},
"2.png": {
"hash": "c4dc7ae86a546684f3c9cbe0e47acf55",
"size": 834386
},
"3.png": {
"hash": "c4dc7ae86a546684f3c9cbe0e47acf55",
"size": 834386
},
"4.png": {
"hash": "f87b5643a7b58bc4cdf231ab096038b7",
"size": 833993
},
"5.png": {
"hash": "f87b5643a7b58bc4cdf231ab096038b7",
"size": 833993
},
"6.png": {
"hash": "d17c07b754a6c274915a94a2dd978c02",
"size": 819850
},
"7.png": {
"hash": "87f3db7908d0455ffe3b2a51093abe16",
"size": 824040
},
"8.png": {
"hash": "c40ec042eb926ed5e012c0a505b0453d",
"size": 787645
},
"9.png": {
"hash": "97cb4afc22754e0433303ae8b44d380f",
"size": 813831
}
}
},
"temp_mock_camera": {
"color": {
"0.png": {
Expand Down
48 changes: 48 additions & 0 deletions rimage/image_processing.go
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Original file line number Diff line number Diff line change
Expand Up @@ -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) {
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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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@bhaney bhaney Oct 14, 2022 •
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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

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++
}
}
}
52 changes: 2 additions & 50 deletions rimage/image_processing_test.go
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Original file line number Diff line number Diff line change
Expand Up @@ -3,7 +3,6 @@ package rimage
import (
"fmt"
"image"
"image/color"
"math"
"testing"

Expand Down Expand Up @@ -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)
Expand All @@ -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()

Expand Down
6 changes: 3 additions & 3 deletions services/slam/builtin/builtin.go
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Original file line number Diff line number Diff line change
Expand Up @@ -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(
Expand Down Expand Up @@ -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)
Expand Down Expand Up @@ -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()
Expand Down
87 changes: 77 additions & 10 deletions services/slam/builtin/builtin_test.go
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Original file line number Diff line number Diff line change
Expand Up @@ -4,6 +4,7 @@
package builtin_test

import (
"bytes"
"context"
"fmt"
"image"
Expand Down Expand Up @@ -41,16 +42,27 @@ import (
)

const (
validDataRateMS = 200
numOrbslamImages = 29
validDataRateMS = 200
)

var (
orbslamIntCameraMutex sync.Mutex
orbslamIntCameraReleaseImagesChan chan int = make(chan int, 2)
orbslamIntWebcamReleaseImageChan chan int = make(chan int, 1)
orbslamIntSynchronizeCamerasChan chan int = make(chan int)
)

func getNumOrbslamImages(mode slam.Mode) int {
switch mode {
case slam.Mono:
return 15
case slam.Rgbd:
return 29
default:
return 0
}
}

func createFakeSLAMLibraries() {
for _, s := range slam.SLAMLibraries {
slam.SLAMLibraries["fake_"+s.AlgoName] = slam.LibraryMetadata{
Expand Down Expand Up @@ -103,22 +115,39 @@ func setupInjectRobot() *inject.Robot {
distortionsA := &transform.BrownConrady{RadialK1: 0.001, RadialK2: 0.00004}
projA = intrinsicsA

var projReal transform.Projector
intrinsicsReal := &transform.PinholeCameraIntrinsics{
var projRealSense transform.Projector
intrinsicsRealSense := &transform.PinholeCameraIntrinsics{
Width: 1280,
Height: 720,
Fx: 900.538,
Fy: 900.818,
Ppx: 648.934,
Ppy: 367.736,
}
distortionsReal := &transform.BrownConrady{
distortionsRealSense := &transform.BrownConrady{
RadialK1: 0.158701,
RadialK2: -0.485405,
RadialK3: 0.435342,
TangentialP1: -0.00143327,
TangentialP2: -0.000705919}
projReal = intrinsicsReal
projRealSense = intrinsicsRealSense

var projWebcam transform.Projector
intrinsicsWebcam := &transform.PinholeCameraIntrinsics{
Width: 640,
Height: 480,
Fx: 939.2693584627577,
Fy: 940.2928257873841,
Ppx: 320.6075282958033,
Ppy: 239.14408757087756,
}
distortionsWebcam := &transform.BrownConrady{
RadialK1: 0.046535971648456166,
RadialK2: 0.8002516496932317,
RadialK3: -5.408034254951954,
TangentialP1: -8.996658362365533e-06,
TangentialP2: -0.002828504714921335}
projWebcam = intrinsicsWebcam

r.ResourceByNameFunc = func(name resource.Name) (interface{}, error) {
cam := &inject.Camera{}
Expand Down Expand Up @@ -249,10 +278,10 @@ func setupInjectRobot() *inject.Robot {
return nil, errors.New("camera not lidar")
}
cam.ProjectorFunc = func(ctx context.Context) (transform.Projector, error) {
return projReal, nil
return projRealSense, nil
}
cam.PropertiesFunc = func(ctx context.Context) (camera.Properties, error) {
return camera.Properties{IntrinsicParams: intrinsicsReal, DistortionParams: distortionsReal}, nil
return camera.Properties{IntrinsicParams: intrinsicsRealSense, DistortionParams: distortionsRealSense}, nil
}
var index uint64
cam.StreamFunc = func(ctx context.Context, errHandlers ...gostream.ErrorHandler) (gostream.VideoStream, error) {
Expand All @@ -265,7 +294,7 @@ func setupInjectRobot() *inject.Robot {
select {
case <-orbslamIntCameraReleaseImagesChan:
i := atomic.AddUint64(&index, 1) - 1
if i >= numOrbslamImages {
if i >= uint64(getNumOrbslamImages(slam.Rgbd)) {
return nil, errors.New("No more orbslam color images")
}
imgBytes, err := os.ReadFile(artifact.MustPath("slam/mock_camera_short/rgb/" + strconv.FormatUint(i, 10) + ".png"))
Expand Down Expand Up @@ -304,7 +333,7 @@ func setupInjectRobot() *inject.Robot {
select {
case <-orbslamIntCameraReleaseImagesChan:
i := atomic.AddUint64(&index, 1) - 1
if i >= numOrbslamImages {
if i >= uint64(getNumOrbslamImages(slam.Rgbd)) {
return nil, errors.New("No more orbslam depth images")
}
imgBytes, err := os.ReadFile(artifact.MustPath("slam/mock_camera_short/depth/" + strconv.FormatUint(i, 10) + ".png"))
Expand All @@ -322,6 +351,44 @@ func setupInjectRobot() *inject.Robot {
}
}
return cam, nil
case camera.Named("orbslam_int_webcam"):
cam.NextPointCloudFunc = func(ctx context.Context) (pointcloud.PointCloud, error) {
return nil, errors.New("camera not lidar")
}
cam.ProjectorFunc = func(ctx context.Context) (transform.Projector, error) {
return projWebcam, nil
}
cam.PropertiesFunc = func(ctx context.Context) (camera.Properties, error) {
return camera.Properties{IntrinsicParams: intrinsicsWebcam, DistortionParams: distortionsWebcam}, nil
}
var index uint64
cam.StreamFunc = func(ctx context.Context, errHandlers ...gostream.ErrorHandler) (gostream.VideoStream, error) {
select {
case <-orbslamIntWebcamReleaseImageChan:
i := atomic.AddUint64(&index, 1) - 1
if i >= uint64(getNumOrbslamImages(slam.Mono)) {
return nil, errors.New("No more orbslam webcam images")
}
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
Comment on lines +372 to +386
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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.

default:
return nil, errors.Errorf("Webcam not ready to return image %v", index)
}
}
return cam, nil
default:
return nil, rdkutils.NewResourceNotFoundError(name)
}
Expand Down
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