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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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126 changes: 32 additions & 94 deletions .artifact/tree.json
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Original file line number Diff line number Diff line change
Expand Up @@ -50802,129 +50802,67 @@
}
}
},
"temp_mock_camera": {
"color": {
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}
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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
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