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RSDK-2077 Make sure custom depth type is big endian encoded #1984

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merged 2 commits into from
Mar 6, 2023
Merged

RSDK-2077 Make sure custom depth type is big endian encoded #1984

merged 2 commits into from
Mar 6, 2023

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bhaney
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@bhaney bhaney commented Mar 3, 2023 •
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Changes vnd.viam.dep to be encoded in a Big Endian way, as that is the network byte order, as used by the C++ server and on the Internet.

@viambot viambot added viam-org Is part of the viamrobotics organization. safe to test This pull request is marked safe to test from a trusted zone labels Mar 3, 2023
bhaney
bhaney commented Mar 3, 2023
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rimage/depth_map_raw.go

rawWidth, err := _readNext(f)
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@bhaney bhaney Mar 3, 2023 •
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_readNext is coded to read in LittleEndian byte order, so for backwards compatbility with .dat and .dat.gz files, we can keep it. We replace the Viam Depth type to read in BigEndian order

bhaney
bhaney commented Mar 3, 2023
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rimage/depth_map_test.go
Comment on lines -388 to -391
buf := bytes.Buffer{}
err = m.WriteToBuf(&buf)
test.That(t, err, test.ShouldBeNil)
test.That(t, buf.Bytes(), test.ShouldNotBeNil)
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WriteToBuf writes a grayscale PNG

@viambot viambot added safe to test This pull request is marked safe to test from a trusted zone and removed safe to test This pull request is marked safe to test from a trusted zone labels Mar 3, 2023
@bhaney bhaney requested a review from kharijarrett March 3, 2023 23:12
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github-actions bot commented Mar 3, 2023

Code Coverage

Package Line Rate Delta Health
go.viam.com/rdk/components/arm 60% 0.00% ➖
go.viam.com/rdk/components/arm/universalrobots 42% 0.00% ❌
go.viam.com/rdk/components/arm/xarm 6% 0.00% ❌
go.viam.com/rdk/components/arm/yahboom 6% 0.00% ❌
go.viam.com/rdk/components/audioinput 54% 0.00% ➖
go.viam.com/rdk/components/base 62% 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 75% 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/fake 39% 0.00% ❌
go.viam.com/rdk/components/board/genericlinux 31% 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 64% 0.00% ➖
go.viam.com/rdk/components/camera/fake 64% 0.00% ➖
go.viam.com/rdk/components/camera/ffmpeg 76% -1.43% ✅
go.viam.com/rdk/components/camera/rtsp 59% 0.00% ➖
go.viam.com/rdk/components/camera/transformpipeline 78% 0.00% ✅
go.viam.com/rdk/components/camera/videosource 34% 0.00% ❌
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 59% 0.00% ➖
go.viam.com/rdk/components/gantry/multiaxis 84% +1.11% ✅
go.viam.com/rdk/components/gantry/oneaxis 86% 0.00% ✅
go.viam.com/rdk/components/generic 82% 0.00% ✅
go.viam.com/rdk/components/gripper 67% 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 76% 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 65% 0.00% ➖
go.viam.com/rdk/components/motor/gpiostepper 56% 0.00% ➖
go.viam.com/rdk/components/motor/tmcstepper 62% 0.00% ➖
go.viam.com/rdk/components/motor/ulnstepper 52% 0.00% ➖
go.viam.com/rdk/components/movementsensor 75% 0.00% ✅
go.viam.com/rdk/components/movementsensor/cameramono 45% 0.00% ❌
go.viam.com/rdk/components/movementsensor/gpsnmea 37% 0.00% ❌
go.viam.com/rdk/components/movementsensor/gpsrtk 29% 0.00% ❌
go.viam.com/rdk/components/posetracker 84% 0.00% ✅
go.viam.com/rdk/components/sensor 66% 0.00% ➖
go.viam.com/rdk/components/sensor/ultrasonic 31% 0.00% ❌
go.viam.com/rdk/components/servo 66% 0.00% ➖
go.viam.com/rdk/components/servo/gpio 71% 0.00% ✅
go.viam.com/rdk/config 77% 0.00% ✅
go.viam.com/rdk/control 57% 0.00% ➖
go.viam.com/rdk/data 78% 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 65% 0.00% ➖
go.viam.com/rdk/module/modmanager 79% 0.00% ✅
go.viam.com/rdk/motionplan 69% -0.20% ➖
go.viam.com/rdk/operation 82% 0.00% ✅
go.viam.com/rdk/pointcloud 73% 0.00% ✅
go.viam.com/rdk/protoutils 49% 0.00% ❌
go.viam.com/rdk/referenceframe 73% 0.00% ✅
go.viam.com/rdk/registry 89% 0.00% ✅
go.viam.com/rdk/resource 84% 0.00% ✅
go.viam.com/rdk/rimage 79% +0.80% ✅
go.viam.com/rdk/rimage/depthadapter 94% 0.00% ✅
go.viam.com/rdk/rimage/transform 75% 0.00% ✅
go.viam.com/rdk/rimage/transform/cmd/extrinsic_calibration 67% 0.00% ➖
go.viam.com/rdk/robot 87% +0.91% ✅
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% 0.00% ✅
go.viam.com/rdk/robot/packages 78% 0.00% ✅
go.viam.com/rdk/robot/server 55% 0.00% ➖
go.viam.com/rdk/robot/web 62% 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 55% 0.00% ➖
go.viam.com/rdk/services/baseremotecontrol 71% 0.00% ✅
go.viam.com/rdk/services/baseremotecontrol/builtin 81% 0.00% ✅
go.viam.com/rdk/services/datamanager 75% 0.00% ✅
go.viam.com/rdk/services/datamanager/builtin 78% 0.00% ✅
go.viam.com/rdk/services/datamanager/datacapture 74% 0.00% ✅
go.viam.com/rdk/services/datamanager/datasync 0% 0.00% ❌
go.viam.com/rdk/services/motion 60% 0.00% ➖
go.viam.com/rdk/services/motion/builtin 88% 0.00% ✅
go.viam.com/rdk/services/navigation 54% 0.00% ➖
go.viam.com/rdk/services/sensors 74% 0.00% ✅
go.viam.com/rdk/services/sensors/builtin 97% 0.00% ✅
go.viam.com/rdk/services/shell 25% 0.00% ❌
go.viam.com/rdk/services/slam 82% 0.00% ✅
go.viam.com/rdk/services/slam/builtin 70% 0.00% ➖
go.viam.com/rdk/services/slam/fake 78% 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 84% 0.00% ✅
go.viam.com/rdk/subtype 92% 0.00% ✅
go.viam.com/rdk/utils 72% 0.00% ✅
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 26% 0.00% ❌
Summary 65% (22214 / 33998) +0.05% ➖

kharijarrett
kharijarrett approved these changes Mar 6, 2023
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LGTM!

@bhaney bhaney merged commit 14f9f92 into viamrobotics:main Mar 6, 2023
ehhong pushed a commit to ehhong/rdk that referenced this pull request Mar 8, 2023
@bhaney @ehhong
RSDK-2077 Make sure custom depth type is big endian encoded (viamrobo…
4f610d3 
…tics#1984)
zaporter-work pushed a commit to zaporter-work/rdk that referenced this pull request Mar 8, 2023
@bhaney @zaporter-work
RSDK-2077 Make sure custom depth type is big endian encoded (viamrobo…
6605c78 
…tics#1984)
biotinker pushed a commit to biotinker/robotcore that referenced this pull request Mar 16, 2023
@bhaney @biotinker
RSDK-2077 Make sure custom depth type is big endian encoded (viamrobo…
96c9bf5 
…tics#1984)
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@bhaney @kharijarrett @viambot