Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

[Data-504] reduce test image resolutions #1540

Merged
merged 3 commits into from
Oct 31, 2022
Merged

[Data-504] reduce test image resolutions #1540

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
3 commits
Select commit Hold shift + click to select a range
394ce05
change transformpipeline tests to use smaller images
bhaney Oct 27, 2022
70e5803
replace some pictures with lower resolution for videosource
bhaney Oct 27, 2022
4871229
reduce number of points in pointcloud tests
bhaney Oct 31, 2022
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
16 changes: 16 additions & 0 deletions .artifact/tree.json
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -3774,6 +3774,14 @@
"hash": "25993f4c19eec20d5acb8b10b6d3ef66",
"size": 96058
},
"board1_gray_small.png": {
"hash": "6ff4c7ef1b9ed8e0f3e62ae1c9a31bae",
"size": 10062
},
"board1_small.png": {
"hash": "d7cdfc43775a95eb9a37f655fc9b2932",
"size": 31201
},
"board2.dat.gz": {
"hash": "e5ba35b11cc8bf0c25cd997751b00b51",
"size": 151788
Expand All @@ -3786,6 +3794,14 @@
"hash": "3e62dc2c62bbd4f5e198fb1c4e82f9a9",
"size": 92327
},
"board2_gray_small.png": {
"hash": "362b8abe03fa4ad0a5d3cfc2e2deedfd",
"size": 10756
},
"board2_small.png": {
"hash": "234d75ca63901fc11677239760fb33e9",
"size": 31333
},
"canny1.png": {
"hash": "2484495f4ffaec93f87c4bfb52a5613a",
"size": 663484
Expand Down
6 changes: 3 additions & 3 deletions components/camera/camera_test.go
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -301,10 +301,10 @@ func (s *simpleSourceWithPCD) NextPointCloud(ctx context.Context) (pointcloud.Po
}

func TestNewCamera(t *testing.T) {
intrinsics1 := &transform.PinholeCameraIntrinsics{Width: 1280, Height: 720}
intrinsics1 := &transform.PinholeCameraIntrinsics{Width: 128, Height: 72}
intrinsics2 := &transform.PinholeCameraIntrinsics{Width: 100, Height: 100}
videoSrc := &simpleSource{"rimage/board1"}
videoSrcPCD := &simpleSourceWithPCD{"rimage/board1"}
videoSrc := &simpleSource{"rimage/board1_small"}
videoSrcPCD := &simpleSourceWithPCD{"rimage/board1_small"}

// no camera
_, err := camera.NewFromReader(context.Background(), nil, nil, camera.UnspecifiedStream)
Expand Down
2 changes: 1 addition & 1 deletion components/camera/transformpipeline/depth_edges_test.go
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -32,7 +32,7 @@ func debugVideoTransformOrSkip(t *testing.T) {
}

func TestDepthSource(t *testing.T) {
img, err := rimage.NewDepthMapFromFile(artifact.MustPath("rimage/board1_gray.png"))
img, err := rimage.NewDepthMapFromFile(artifact.MustPath("rimage/board1_gray_small.png"))
test.That(t, err, test.ShouldBeNil)
source := &videosource.StaticSource{DepthImg: img}
am := config.AttributeMap{
Expand Down
32 changes: 16 additions & 16 deletions components/camera/transformpipeline/mods_test.go
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -31,56 +31,56 @@ func init() {

//nolint:dupl
func TestResizeColor(t *testing.T) {
img, err := rimage.NewImageFromFile(artifact.MustPath("rimage/board1.png"))
img, err := rimage.NewImageFromFile(artifact.MustPath("rimage/board1_small.png"))
test.That(t, err, test.ShouldBeNil)

am := config.AttributeMap{
"height_px": 200,
"width_px": 300,
"height_px": 20,
"width_px": 30,
}
source := gostream.NewVideoSource(&videosource.StaticSource{ColorImg: img}, prop.Video{})
out, _, err := camera.ReadImage(context.Background(), source)
test.That(t, err, test.ShouldBeNil)
test.That(t, out.Bounds().Dx(), test.ShouldEqual, 1280)
test.That(t, out.Bounds().Dy(), test.ShouldEqual, 720)
test.That(t, out.Bounds().Dx(), test.ShouldEqual, 128)
test.That(t, out.Bounds().Dy(), test.ShouldEqual, 72)

rs, err := newResizeTransform(context.Background(), source, camera.ColorStream, am)
test.That(t, err, test.ShouldBeNil)
out, _, err = camera.ReadImage(context.Background(), rs)
test.That(t, err, test.ShouldBeNil)
test.That(t, out.Bounds().Dx(), test.ShouldEqual, 300)
test.That(t, out.Bounds().Dy(), test.ShouldEqual, 200)
test.That(t, out.Bounds().Dx(), test.ShouldEqual, 30)
test.That(t, out.Bounds().Dy(), test.ShouldEqual, 20)
test.That(t, rs.Close(context.Background()), test.ShouldBeNil)
test.That(t, source.Close(context.Background()), test.ShouldBeNil)
}

//nolint:dupl
func TestResizeDepth(t *testing.T) {
img, err := rimage.NewDepthMapFromFile(artifact.MustPath("rimage/board1_gray.png"))
img, err := rimage.NewDepthMapFromFile(artifact.MustPath("rimage/board1_gray_small.png"))
test.That(t, err, test.ShouldBeNil)

am := config.AttributeMap{
"height_px": 400,
"width_px": 600,
"height_px": 40,
"width_px": 60,
}
source := gostream.NewVideoSource(&videosource.StaticSource{DepthImg: img}, prop.Video{})
out, _, err := camera.ReadImage(context.Background(), source)
test.That(t, err, test.ShouldBeNil)
test.That(t, out.Bounds().Dx(), test.ShouldEqual, 1280)
test.That(t, out.Bounds().Dy(), test.ShouldEqual, 720)
test.That(t, out.Bounds().Dx(), test.ShouldEqual, 128)
test.That(t, out.Bounds().Dy(), test.ShouldEqual, 72)

rs, err := newResizeTransform(context.Background(), source, camera.DepthStream, am)
test.That(t, err, test.ShouldBeNil)
out, _, err = camera.ReadImage(context.Background(), rs)
test.That(t, err, test.ShouldBeNil)
test.That(t, out.Bounds().Dx(), test.ShouldEqual, 600)
test.That(t, out.Bounds().Dy(), test.ShouldEqual, 400)
test.That(t, out.Bounds().Dx(), test.ShouldEqual, 60)
test.That(t, out.Bounds().Dy(), test.ShouldEqual, 40)
test.That(t, rs.Close(context.Background()), test.ShouldBeNil)
test.That(t, source.Close(context.Background()), test.ShouldBeNil)
}

func TestRotateColorSource(t *testing.T) {
img, err := rimage.NewImageFromFile(artifact.MustPath("rimage/board1.png"))
img, err := rimage.NewImageFromFile(artifact.MustPath("rimage/board1_small.png"))
test.That(t, err, test.ShouldBeNil)

source := gostream.NewVideoSource(&videosource.StaticSource{ColorImg: img}, prop.Video{})
Expand Down Expand Up @@ -112,7 +112,7 @@ func TestRotateColorSource(t *testing.T) {
}

func TestRotateDepthSource(t *testing.T) {
pc, err := rimage.NewDepthMapFromFile(artifact.MustPath("rimage/board1.dat.gz"))
pc, err := rimage.NewDepthMapFromFile(artifact.MustPath("rimage/board1_gray_small.png"))
test.That(t, err, test.ShouldBeNil)

source := gostream.NewVideoSource(&videosource.StaticSource{DepthImg: pc}, prop.Video{})
Expand Down
78 changes: 39 additions & 39 deletions components/camera/transformpipeline/pipeline_test.go
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -25,27 +25,27 @@ func TestTransformPipelineColor(t *testing.T) {
Source: "source",
Pipeline: []Transformation{
{Type: "rotate", Attributes: config.AttributeMap{}},
{Type: "resize", Attributes: config.AttributeMap{"height_px": 200, "width_px": 100}},
{Type: "resize", Attributes: config.AttributeMap{"height_px": 20, "width_px": 10}},
},
}
r := &inject.Robot{}
img, err := rimage.NewImageFromFile(artifact.MustPath("rimage/board1.png"))
img, err := rimage.NewImageFromFile(artifact.MustPath("rimage/board1_small.png"))
test.That(t, err, test.ShouldBeNil)
source := gostream.NewVideoSource(&videosource.StaticSource{ColorImg: img}, prop.Video{})
cam, err := camera.NewFromSource(context.Background(), source, nil, camera.ColorStream)
test.That(t, err, test.ShouldBeNil)
inImg, _, err := camera.ReadImage(context.Background(), cam)
test.That(t, err, test.ShouldBeNil)
test.That(t, inImg.Bounds().Dx(), test.ShouldEqual, 1280)
test.That(t, inImg.Bounds().Dy(), test.ShouldEqual, 720)
test.That(t, inImg.Bounds().Dx(), test.ShouldEqual, 128)
test.That(t, inImg.Bounds().Dy(), test.ShouldEqual, 72)

color, err := newTransformPipeline(context.Background(), cam, transformConf, r)
test.That(t, err, test.ShouldBeNil)

outImg, _, err := camera.ReadImage(context.Background(), color)
test.That(t, err, test.ShouldBeNil)
test.That(t, outImg.Bounds().Dx(), test.ShouldEqual, 100)
test.That(t, outImg.Bounds().Dy(), test.ShouldEqual, 200)
test.That(t, outImg.Bounds().Dx(), test.ShouldEqual, 10)
test.That(t, outImg.Bounds().Dy(), test.ShouldEqual, 20)
_, err = color.NextPointCloud(context.Background())
test.That(t, err, test.ShouldNotBeNil)
test.That(t, err, test.ShouldWrap, transform.ErrNoIntrinsics)
Expand All @@ -57,12 +57,12 @@ func TestTransformPipelineColor(t *testing.T) {

func TestTransformPipelineDepth(t *testing.T) {
intrinsics := &transform.PinholeCameraIntrinsics{
Width: 1280,
Height: 720,
Width: 128,
Height: 72,
Fx: 900.538000,
Fy: 900.818000,
Ppx: 648.934000,
Ppy: 367.736000,
Ppx: 64.8934000,
Ppy: 36.7736000,
}

transformConf := &transformConfig{
Expand All @@ -73,28 +73,28 @@ func TestTransformPipelineDepth(t *testing.T) {
Source: "source",
Pipeline: []Transformation{
{Type: "rotate", Attributes: config.AttributeMap{}},
{Type: "resize", Attributes: config.AttributeMap{"height_px": 300, "width_px": 400}},
{Type: "resize", Attributes: config.AttributeMap{"height_px": 30, "width_px": 40}},
},
}
r := &inject.Robot{}

dm, err := rimage.NewDepthMapFromFile(artifact.MustPath("rimage/board1_gray.png"))
dm, err := rimage.NewDepthMapFromFile(artifact.MustPath("rimage/board1_gray_small.png"))
test.That(t, err, test.ShouldBeNil)
source := gostream.NewVideoSource(&videosource.StaticSource{DepthImg: dm}, prop.Video{})
cam, err := camera.NewFromSource(context.Background(), source, nil, camera.DepthStream)
test.That(t, err, test.ShouldBeNil)
inImg, _, err := camera.ReadImage(context.Background(), cam)
test.That(t, err, test.ShouldBeNil)
test.That(t, inImg.Bounds().Dx(), test.ShouldEqual, 1280)
test.That(t, inImg.Bounds().Dy(), test.ShouldEqual, 720)
test.That(t, inImg.Bounds().Dx(), test.ShouldEqual, 128)
test.That(t, inImg.Bounds().Dy(), test.ShouldEqual, 72)

depth, err := newTransformPipeline(context.Background(), cam, transformConf, r)
test.That(t, err, test.ShouldBeNil)

outImg, _, err := camera.ReadImage(context.Background(), depth)
test.That(t, err, test.ShouldBeNil)
test.That(t, outImg.Bounds().Dx(), test.ShouldEqual, 400)
test.That(t, outImg.Bounds().Dy(), test.ShouldEqual, 300)
test.That(t, outImg.Bounds().Dx(), test.ShouldEqual, 40)
test.That(t, outImg.Bounds().Dy(), test.ShouldEqual, 30)
prop, err := depth.Projector(context.Background())
test.That(t, err, test.ShouldBeNil)
test.That(t, prop, test.ShouldResemble, intrinsics)
Expand All @@ -115,7 +115,7 @@ func TestTransformPipelineDepth2(t *testing.T) {
Pipeline: []Transformation{
{Type: "depth_preprocess", Attributes: config.AttributeMap{}},
{Type: "rotate", Attributes: config.AttributeMap{}},
{Type: "resize", Attributes: config.AttributeMap{"height_px": 200, "width_px": 100}},
{Type: "resize", Attributes: config.AttributeMap{"height_px": 20, "width_px": 10}},
{Type: "depth_to_pretty", Attributes: config.AttributeMap{}},
},
}
Expand All @@ -127,30 +127,30 @@ func TestTransformPipelineDepth2(t *testing.T) {
Pipeline: []Transformation{
{Type: "depth_preprocess", Attributes: config.AttributeMap{}},
{Type: "rotate", Attributes: config.AttributeMap{}},
{Type: "resize", Attributes: config.AttributeMap{"height_px": 300, "width_px": 400}},
{Type: "resize", Attributes: config.AttributeMap{"height_px": 30, "width_px": 40}},
{Type: "depth_edges", Attributes: config.AttributeMap{"high_threshold_pct": 0.85, "low_threshold_pct": 0.3, "blur_radius_px": 3.0}},
},
}
r := &inject.Robot{}

dm, err := rimage.NewDepthMapFromFile(artifact.MustPath("rimage/board1_gray.png"))
dm, err := rimage.NewDepthMapFromFile(artifact.MustPath("rimage/board1_gray_small.png"))
test.That(t, err, test.ShouldBeNil)
source := gostream.NewVideoSource(&videosource.StaticSource{DepthImg: dm}, prop.Video{})
// first depth transform
depth1, err := newTransformPipeline(context.Background(), source, transform1, r)
test.That(t, err, test.ShouldBeNil)
outImg, _, err := camera.ReadImage(context.Background(), depth1)
test.That(t, err, test.ShouldBeNil)
test.That(t, outImg.Bounds().Dx(), test.ShouldEqual, 100)
test.That(t, outImg.Bounds().Dy(), test.ShouldEqual, 200)
test.That(t, outImg.Bounds().Dx(), test.ShouldEqual, 10)
test.That(t, outImg.Bounds().Dy(), test.ShouldEqual, 20)
test.That(t, depth1.Close(context.Background()), test.ShouldBeNil)
// second depth image
depth2, err := newTransformPipeline(context.Background(), source, transform2, r)
test.That(t, err, test.ShouldBeNil)
outImg, _, err = camera.ReadImage(context.Background(), depth2)
test.That(t, err, test.ShouldBeNil)
test.That(t, outImg.Bounds().Dx(), test.ShouldEqual, 400)
test.That(t, outImg.Bounds().Dy(), test.ShouldEqual, 300)
test.That(t, outImg.Bounds().Dx(), test.ShouldEqual, 40)
test.That(t, outImg.Bounds().Dy(), test.ShouldEqual, 30)
test.That(t, depth2.Close(context.Background()), test.ShouldBeNil)
test.That(t, source.Close(context.Background()), test.ShouldBeNil)
}
Expand All @@ -164,7 +164,7 @@ func TestNullPipeline(t *testing.T) {
Pipeline: []Transformation{},
}
r := &inject.Robot{}
img, err := rimage.NewImageFromFile(artifact.MustPath("rimage/board1.png"))
img, err := rimage.NewImageFromFile(artifact.MustPath("rimage/board1_small.png"))
test.That(t, err, test.ShouldBeNil)
source := gostream.NewVideoSource(&videosource.StaticSource{ColorImg: img}, prop.Video{})
_, err = newTransformPipeline(context.Background(), source, transform1, r)
Expand All @@ -182,19 +182,19 @@ func TestNullPipeline(t *testing.T) {
test.That(t, err, test.ShouldBeNil)
outImg, _, err := camera.ReadImage(context.Background(), pipe) // should not transform anything
test.That(t, err, test.ShouldBeNil)
test.That(t, outImg.Bounds().Dx(), test.ShouldEqual, 1280)
test.That(t, outImg.Bounds().Dy(), test.ShouldEqual, 720)
test.That(t, outImg.Bounds().Dx(), test.ShouldEqual, 128)
test.That(t, outImg.Bounds().Dy(), test.ShouldEqual, 72)
test.That(t, pipe.Close(context.Background()), test.ShouldBeNil)
test.That(t, source.Close(context.Background()), test.ShouldBeNil)
}

func TestPipeIntoPipe(t *testing.T) {
r := &inject.Robot{}
img, err := rimage.NewImageFromFile(artifact.MustPath("rimage/board1.png"))
img, err := rimage.NewImageFromFile(artifact.MustPath("rimage/board1_small.png"))
test.That(t, err, test.ShouldBeNil)
source := gostream.NewVideoSource(&videosource.StaticSource{ColorImg: img}, prop.Video{})

intrinsics1 := &transform.PinholeCameraIntrinsics{Width: 1280, Height: 720}
intrinsics1 := &transform.PinholeCameraIntrinsics{Width: 128, Height: 72}
transform1 := &transformConfig{
AttrConfig: &camera.AttrConfig{
Stream: "color",
Expand All @@ -203,15 +203,15 @@ func TestPipeIntoPipe(t *testing.T) {
Source: "source",
Pipeline: []Transformation{{Type: "rotate", Attributes: config.AttributeMap{}}},
}
intrinsics2 := &transform.PinholeCameraIntrinsics{Width: 100, Height: 200}
intrinsics2 := &transform.PinholeCameraIntrinsics{Width: 10, Height: 20}
transform2 := &transformConfig{
AttrConfig: &camera.AttrConfig{
Stream: "color",
CameraParameters: intrinsics2,
},
Source: "transform2",
Pipeline: []Transformation{
{Type: "resize", Attributes: config.AttributeMap{"height_px": 200, "width_px": 100}},
{Type: "resize", Attributes: config.AttributeMap{"height_px": 20, "width_px": 10}},
},
}
transformWrong := &transformConfig{
Expand All @@ -220,32 +220,32 @@ func TestPipeIntoPipe(t *testing.T) {
},
Source: "transform2",
Pipeline: []Transformation{
{Type: "resize", Attributes: config.AttributeMap{"height_px": 200, "width_px": 100}},
{Type: "resize", Attributes: config.AttributeMap{"height_px": 20, "width_px": 10}},
},
}

pipe1, err := newTransformPipeline(context.Background(), source, transform1, r)
test.That(t, err, test.ShouldBeNil)
outImg, _, err := camera.ReadImage(context.Background(), pipe1)
test.That(t, err, test.ShouldBeNil)
test.That(t, outImg.Bounds().Dx(), test.ShouldEqual, 1280)
test.That(t, outImg.Bounds().Dy(), test.ShouldEqual, 720)
test.That(t, outImg.Bounds().Dx(), test.ShouldEqual, 128)
test.That(t, outImg.Bounds().Dy(), test.ShouldEqual, 72)
prop, err := pipe1.Projector(context.Background())
test.That(t, err, test.ShouldBeNil)
test.That(t, prop.(*transform.PinholeCameraIntrinsics).Width, test.ShouldEqual, 1280)
test.That(t, prop.(*transform.PinholeCameraIntrinsics).Height, test.ShouldEqual, 720)
test.That(t, prop.(*transform.PinholeCameraIntrinsics).Width, test.ShouldEqual, 128)
test.That(t, prop.(*transform.PinholeCameraIntrinsics).Height, test.ShouldEqual, 72)
// transform pipeline into pipeline
pipe2, err := newTransformPipeline(context.Background(), pipe1, transform2, r)
test.That(t, err, test.ShouldBeNil)
outImg, _, err = camera.ReadImage(context.Background(), pipe2)
test.That(t, err, test.ShouldBeNil)
test.That(t, outImg.Bounds().Dx(), test.ShouldEqual, 100)
test.That(t, outImg.Bounds().Dy(), test.ShouldEqual, 200)
test.That(t, outImg.Bounds().Dx(), test.ShouldEqual, 10)
test.That(t, outImg.Bounds().Dy(), test.ShouldEqual, 20)
test.That(t, err, test.ShouldBeNil)
prop, err = pipe2.Projector(context.Background())
test.That(t, err, test.ShouldBeNil)
test.That(t, prop.(*transform.PinholeCameraIntrinsics).Width, test.ShouldEqual, 100)
test.That(t, prop.(*transform.PinholeCameraIntrinsics).Height, test.ShouldEqual, 200)
test.That(t, prop.(*transform.PinholeCameraIntrinsics).Width, test.ShouldEqual, 10)
test.That(t, prop.(*transform.PinholeCameraIntrinsics).Height, test.ShouldEqual, 20)
test.That(t, pipe2.Close(context.Background()), test.ShouldBeNil)
// should error - color image cannot be depth resized
pipeWrong, err := newTransformPipeline(context.Background(), pipe1, transformWrong, r)
Expand Down
10 changes: 5 additions & 5 deletions components/camera/transformpipeline/undistort_test.go
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -19,8 +19,8 @@ import (

// not the real intrinsic parameters of the image, only for testing purposes.
var undistortTestParams = &transform.PinholeCameraIntrinsics{
Width: 1280,
Height: 720,
Width: 128,
Height: 72,
Fx: 1.,
Fy: 1.,
Ppx: 0.,
Expand All @@ -36,7 +36,7 @@ var undistortTestBC = &transform.BrownConrady{
}

func TestUndistortSetup(t *testing.T) {
img, err := rimage.NewImageFromFile(artifact.MustPath("rimage/board1.png"))
img, err := rimage.NewImageFromFile(artifact.MustPath("rimage/board1_small.png"))
test.That(t, err, test.ShouldBeNil)
source := gostream.NewVideoSource(&videosource.StaticSource{ColorImg: img}, prop.Video{})

Expand Down Expand Up @@ -68,7 +68,7 @@ func TestUndistortSetup(t *testing.T) {
}

func TestUndistortImage(t *testing.T) {
img, err := rimage.NewImageFromFile(artifact.MustPath("rimage/board1.png"))
img, err := rimage.NewImageFromFile(artifact.MustPath("rimage/board1_small.png"))
test.That(t, err, test.ShouldBeNil)
source := gostream.NewVideoSource(&videosource.StaticSource{ColorImg: img}, prop.Video{})

Expand Down Expand Up @@ -99,7 +99,7 @@ func TestUndistortImage(t *testing.T) {
}

func TestUndistortDepthMap(t *testing.T) {
img, err := rimage.NewDepthMapFromFile(artifact.MustPath("rimage/board1_gray.png"))
img, err := rimage.NewDepthMapFromFile(artifact.MustPath("rimage/board1_gray_small.png"))
test.That(t, err, test.ShouldBeNil)
source := gostream.NewVideoSource(&videosource.StaticSource{DepthImg: img}, prop.Video{})

Expand Down
Loading