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RSDK-1729 - change resolution constraints to be of type IntExact #1781

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merged 1 commit into from
Jan 23, 2023

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Rob1in
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@Rob1in Rob1in commented Jan 18, 2023

change resolutions constraints to be IntExact instead of IntRanged.

@Rob1in Rob1in added the safe to test This pull request is marked safe to test from a trusted zone label Jan 18, 2023
@viambot viambot removed the safe to test This pull request is marked safe to test from a trusted zone label Jan 18, 2023
@Rob1in Rob1in added the safe to test This pull request is marked safe to test from a trusted zone label Jan 18, 2023
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Code Coverage

Package Line Rate Delta Health
go.viam.com/rdk/components/arm 56% 0.00%
go.viam.com/rdk/components/arm/universalrobots 41% 0.00%
go.viam.com/rdk/components/arm/xarm 2% 0.00%
go.viam.com/rdk/components/arm/yahboom 7% 0.00%
go.viam.com/rdk/components/audioinput 55% -0.34%
go.viam.com/rdk/components/base 63% 0.00%
go.viam.com/rdk/components/base/agilex 62% 0.00%
go.viam.com/rdk/components/base/boat 41% 0.00%
go.viam.com/rdk/components/base/wheeled 65% 0.00%
go.viam.com/rdk/components/board 66% 0.00%
go.viam.com/rdk/components/board/arduino 10% 0.00%
go.viam.com/rdk/components/board/commonsysfs 47% 0.00%
go.viam.com/rdk/components/board/fake 38% 0.00%
go.viam.com/rdk/components/board/numato 19% 0.00%
go.viam.com/rdk/components/board/pi 50% 0.00%
go.viam.com/rdk/components/camera 64% 0.00%
go.viam.com/rdk/components/camera/align 63% 0.00%
go.viam.com/rdk/components/camera/fake 67% 0.00%
go.viam.com/rdk/components/camera/ffmpeg 76% 0.00%
go.viam.com/rdk/components/camera/transformpipeline 79% +0.65%
go.viam.com/rdk/components/camera/videosource 46% +1.44%
go.viam.com/rdk/components/encoder 4% 0.00%
go.viam.com/rdk/components/encoder/fake 76% 0.00%
go.viam.com/rdk/components/gantry 60% 0.00%
go.viam.com/rdk/components/gantry/multiaxis 84% 0.00%
go.viam.com/rdk/components/gantry/oneaxis 86% 0.00%
go.viam.com/rdk/components/generic 83% 0.00%
go.viam.com/rdk/components/gripper 68% 0.00%
go.viam.com/rdk/components/input 87% 0.00%
go.viam.com/rdk/components/input/gpio 84% 0.00%
go.viam.com/rdk/components/motor 77% 0.00%
go.viam.com/rdk/components/motor/dimensionengineering 63% 0.00%
go.viam.com/rdk/components/motor/dmc4000 69% 0.00%
go.viam.com/rdk/components/motor/fake 57% 0.00%
go.viam.com/rdk/components/motor/gpio 64% +0.43%
go.viam.com/rdk/components/motor/gpiostepper 57% +0.59%
go.viam.com/rdk/components/motor/tmcstepper 62% 0.00%
go.viam.com/rdk/components/movementsensor 75% 0.00%
go.viam.com/rdk/components/movementsensor/cameramono 46% 0.00%
go.viam.com/rdk/components/movementsensor/gpsnmea 36% 0.00%
go.viam.com/rdk/components/movementsensor/gpsrtk 28% 0.00%
go.viam.com/rdk/components/posetracker 86% 0.00%
go.viam.com/rdk/components/sensor 86% 0.00%
go.viam.com/rdk/components/sensor/ultrasonic 25% 0.00%
go.viam.com/rdk/components/servo 68% 0.00%
go.viam.com/rdk/components/servo/gpio 71% 0.00%
go.viam.com/rdk/config 76% 0.00%
go.viam.com/rdk/control 57% 0.00%
go.viam.com/rdk/data 79% 0.00%
go.viam.com/rdk/examples/customresources/demos/complexmodule 0% 0.00%
go.viam.com/rdk/examples/customresources/demos/remoteserver 0% 0.00%
go.viam.com/rdk/grpc 25% 0.00%
go.viam.com/rdk/ml 67% 0.00%
go.viam.com/rdk/ml/inference 70% 0.00%
go.viam.com/rdk/module 63% 0.00%
go.viam.com/rdk/module/modmanager 79% 0.00%
go.viam.com/rdk/motionplan 68% +8.50%
go.viam.com/rdk/octree 98% 0.00%
go.viam.com/rdk/operation 82% 0.00%
go.viam.com/rdk/pointcloud 72% 0.00%
go.viam.com/rdk/protoutils 59% 0.00%
go.viam.com/rdk/referenceframe 71% 0.00%
go.viam.com/rdk/registry 89% 0.00%
go.viam.com/rdk/resource 84% 0.00%
go.viam.com/rdk/rimage 78% 0.00%
go.viam.com/rdk/rimage/depthadapter 94% 0.00%
go.viam.com/rdk/rimage/transform 73% 0.00%
go.viam.com/rdk/rimage/transform/cmd/extrinsic_calibration 67% 0.00%
go.viam.com/rdk/robot 85% 0.00%
go.viam.com/rdk/robot/client 81% 0.00%
go.viam.com/rdk/robot/framesystem 65% 0.00%
go.viam.com/rdk/robot/impl 81% +0.22%
go.viam.com/rdk/robot/server 55% -0.59%
go.viam.com/rdk/robot/web 61% 0.00%
go.viam.com/rdk/robot/web/stream 87% 0.00%
go.viam.com/rdk/services/armremotecontrol 71% 0.00%
go.viam.com/rdk/services/armremotecontrol/builtin 52% 0.00%
go.viam.com/rdk/services/baseremotecontrol 71% 0.00%
go.viam.com/rdk/services/baseremotecontrol/builtin 79% 0.00%
go.viam.com/rdk/services/datamanager 79% 0.00%
go.viam.com/rdk/services/datamanager/builtin 78% -0.91%
go.viam.com/rdk/services/datamanager/datacapture 70% 0.00%
go.viam.com/rdk/services/datamanager/datasync 0% 0.00%
go.viam.com/rdk/services/motion 63% 0.00%
go.viam.com/rdk/services/motion/builtin 88% 0.00%
go.viam.com/rdk/services/navigation 53% 0.00%
go.viam.com/rdk/services/sensors 77% 0.00%
go.viam.com/rdk/services/sensors/builtin 97% 0.00%
go.viam.com/rdk/services/shell 14% 0.00%
go.viam.com/rdk/services/slam 84% 0.00%
go.viam.com/rdk/services/slam/builtin 70% 0.00%
go.viam.com/rdk/services/vision 80% 0.00%
go.viam.com/rdk/services/vision/builtin 74% 0.00%
go.viam.com/rdk/session 97% 0.00%
go.viam.com/rdk/spatialmath 86% 0.00%
go.viam.com/rdk/subtype 92% 0.00%
go.viam.com/rdk/utils 72% -0.18%
go.viam.com/rdk/vision 26% 0.00%
go.viam.com/rdk/vision/chess 80% 0.00%
go.viam.com/rdk/vision/delaunay 87% 0.00%
go.viam.com/rdk/vision/keypoints 92% 0.00%
go.viam.com/rdk/vision/objectdetection 82% 0.00%
go.viam.com/rdk/vision/odometry 60% 0.00%
go.viam.com/rdk/vision/odometry/cmd 0% 0.00%
go.viam.com/rdk/vision/segmentation 49% 0.00%
go.viam.com/rdk/web/server 25% 0.00%
Summary 65% (21128 / 32445) +0.55%

@Rob1in Rob1in changed the title RSDK-1729 - change resolution constraints to be of IntExact RSDK-1729 - change resolution constraints to be of type IntExact Jan 18, 2023
if attrs.Width > 0 {
constraint.Width = prop.IntExact(attrs.Width)
} else {
constraint.Width = prop.IntRanged{Min: 0, Ideal: 640, Max: 4096}
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Why did the ideal width change from 800 to 640? Same question for height changing from 600 to 480.

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This is more aligned with the "default driver" (first) proposed by v4l for most webcams. Also, in the fitnessDistance algorithm of mediadevices, only min and max will matter.

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Mediadevices uses Ideal too in its fitnessDistance algorithm. It uses it when comparing one IntRanged to another (see IntRanged.Compare). The fitnessDistance method will compare IntRangeds (a type of IntConstraint) here.

All that being said I don't think it matters too much. This looks LGTM!

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Looks good to me, making so it matches exactly to the specified resolution will finally fix the matching bug we've seen

@Rob1in Rob1in merged commit 8e6a9d3 into viamrobotics:main Jan 23, 2023
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4 participants