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[#1374] Writing output img when using filename
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Lines changed: 126 additions & 45 deletions

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‎docs/source/Support/bskKnownIssues.rst‎

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@@ -18,6 +18,8 @@ Version |release|
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``Vizard image request acknowledgement was not received`` error is fixed in the current version.
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- The camera module now passes PNG encoding options as OpenCV key-value pairs, fixing OpNav image
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processing failures with OpenCV 4.13.
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- The camera module filename input was only used to test filters and never published to imageOut. This is fixed
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so images loaded from filename now follow the same processing and publishing pipeline as images from imageInMsg.
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- The MuJoCo dynamics wrapper now uses MuJoCo 3.7 element-name APIs, fixing builds after the MuJoCo
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3.7 upgrade.
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- SWIG 4.4.0 caused Basilisk build failures in some Python 3.13+ source-build configurations.

‎docs/source/Support/bskReleaseNotesSnippets/1374-camera-filename-processing.rst‎

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@@ -0,0 +1 @@
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- Fixed camera module to properly process and publish images loaded from the filename parameter, ensuring they follow the same processing pipeline as images from imageInMsg.

‎src/simulation/sensors/camera/_UnitTest/test_camera.py‎

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@@ -57,6 +57,90 @@
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# @pytest.mark.xfail(conditionstring)
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# Provide a unique test method name, starting with 'test_'.
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@pytest.mark.skipif(importErr, reason=reasonErr)
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def test_no_image_zero_msg():
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"""
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**Validation Test Description**
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This module tests that when no image is present (no filename and no input message),
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the camera module properly outputs a zeroed-out message.
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**Description of Variables Being Tested**
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The camera output message should have all fields set to zero/empty when no image is available.
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This ensures that downstream modules receive valid (though empty) data.
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- ``imageOutMsg.valid`` should be 0
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- ``imageOutMsg.imageBufferLength`` should be 0
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- ``imageOutMsg.imagePointer`` should be nullptr
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"""
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testFailCount = 0
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testMessages = []
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unitTaskName = "unitTask"
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unitProcessName = "TestProcess"
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# Create a sim module as an empty container
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unitTestSim = SimulationBaseClass.SimBaseClass()
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# Create test thread
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testProcessRate = macros.sec2nano(0.5)
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testProc = unitTestSim.CreateNewProcess(unitProcessName)
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testProc.addTask(unitTestSim.CreateNewTask(unitTaskName, testProcessRate))
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# Construct algorithm and associated C++ container
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module = camera.Camera()
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module.ModelTag = "cameras"
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# Add test module to runtime call list
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unitTestSim.AddModelToTask(unitTaskName, module)
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# Don't provide filename or input message - this should trigger zeroed output
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module.filename = ""
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module.cameraIsOn = 1
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# Setup logging on the test module output message
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dataLog = module.imageOutMsg.recorder()
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unitTestSim.AddModelToTask(unitTaskName, dataLog)
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# Need to call the self-init and cross-init methods
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unitTestSim.InitializeSimulation()
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# Set the simulation time
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unitTestSim.ConfigureStopTime(macros.sec2nano(0.5))
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# Begin the simulation time run
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unitTestSim.ExecuteSimulation()
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# Check that the output message fields are zeroed
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if len(dataLog.valid) == 0:
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testFailCount += 1
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testMessages.append("No image output message was written")
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else:
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# Check the last written message
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if dataLog.valid[-1] != 0:
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testFailCount += 1
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testMessages.append(f"imageOutMsg.valid should be 0, but got {dataLog.valid[-1]}")
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if dataLog.imageBufferLength[-1] != 0:
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testFailCount += 1
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testMessages.append(f"imageOutMsg.imageBufferLength should be 0, but got {dataLog.imageBufferLength[-1]}")
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if dataLog.timeTag[-1] != 0:
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testFailCount += 1
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testMessages.append(f"imageOutMsg.timeTag should be 0, but got {dataLog.timeTag[-1]}")
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if dataLog.cameraID[-1] != 0:
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testFailCount += 1
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testMessages.append(f"imageOutMsg.cameraID should be 0, but got {dataLog.cameraID[-1]}")
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if dataLog.imageType[-1] != 0:
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testFailCount += 1
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testMessages.append(f"imageOutMsg.imageType should be 0, but got {dataLog.imageType[-1]}")
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assert testFailCount == 0, testMessages
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@pytest.mark.skipif(importErr, reason=reasonErr)
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@pytest.mark.parametrize("gauss, darkCurrent, saltPepper, cosmic, blurSize", [
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(0, 0, 0, 0, 0)

‎src/simulation/sensors/camera/camera.cpp‎

Lines changed: 39 additions & 45 deletions
Original file line numberDiff line numberDiff line change
@@ -357,62 +357,56 @@ void Camera::UpdateState(uint64_t currentSimNanos)
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imageBuffer = this->imageInMsg();
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this->sensorTimeTag = this->imageInMsg.timeWritten();
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}
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/* Added for debugging purposes*/
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if (!this->filename.empty()){
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imageCV = imread(this->filename, cv::IMREAD_COLOR);
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this->applyFilters(imageCV, blurred);
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if (this->saveImages == 1){
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if (!cv::imwrite(localPath, blurred)) {
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bskLogger.bskLog(BSK_WARNING, "camera: wasn't able to save the camera module image" );
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}
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}
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}
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else if(imageBuffer.valid == 1 && imageBuffer.timeTag >= currentSimNanos){
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/*! - Recast image pointer to CV type*/
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std::vector<unsigned char> vectorBuffer((char*)imageBuffer.imagePointer,
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(char*)imageBuffer.imagePointer + imageBuffer.imageBufferLength);
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imageCV = cv::imdecode(vectorBuffer, cv::IMREAD_COLOR);
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this->applyFilters(imageCV, blurred);
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if (this->saveImages == 1){
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if (!cv::imwrite(localPath, blurred)) {
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bskLogger.bskLog(BSK_WARNING, "camera: wasn't able to save the camera module image" );
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}
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}
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/*! If the permanent image buffer is not populated, it will be equal to null*/
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if (this->pointImageOut != nullptr) {
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free(this->pointImageOut);
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this->pointImageOut = nullptr;
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}
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/*! - Encode the cv mat into a png for the future modules to decode it the same way */
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std::vector<unsigned char> buf;
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std::vector<int> compression = {cv::IMWRITE_PNG_COMPRESSION, 0};
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if (!cv::imencode(".png", blurred, buf, compression) || buf.empty()) {
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bskLogger.bskLog(BSK_ERROR, "camera: failed to encode image output buffer.");
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return;
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}
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if (buf.size() > (size_t)std::numeric_limits<int32_t>::max()) {
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bskLogger.bskLog(BSK_ERROR, "camera: encoded image output buffer is too large.");
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return;
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}
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/*! - Output the saved image */
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imageOut.valid = 1;
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imageOut.timeTag = imageBuffer.timeTag;
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imageOut.cameraID = imageBuffer.cameraID;
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imageOut.imageType = imageBuffer.imageType;
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imageOut.imageBufferLength = (int32_t)buf.size();
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this->pointImageOut = malloc(imageOut.imageBufferLength*sizeof(char));
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if (this->pointImageOut == nullptr) {
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bskLogger.bskLog(BSK_ERROR, "camera: failed to allocate image output buffer.");
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return;
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}
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memcpy(this->pointImageOut, buf.data(), imageOut.imageBufferLength*sizeof(char));
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imageOut.imagePointer = this->pointImageOut;
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this->imageOutMsg.write(&imageOut, this->moduleID, currentSimNanos);
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}
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else{
415371
/*! - If no image is present, write zeros in message */
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this->imageOutMsg.write(&imageOut, this->moduleID, currentSimNanos);
373+
return;
374+
}
375+
this->applyFilters(imageCV, blurred);
376+
if (this->saveImages == 1){
377+
if (!cv::imwrite(localPath, blurred)) {
378+
bskLogger.bskLog(BSK_WARNING, "camera: wasn't able to save the camera module image" );
379+
}
380+
}
381+
/*! If the permanent image buffer is not populated, it will be equal to null*/
382+
if (this->pointImageOut != nullptr) {
383+
free(this->pointImageOut);
384+
this->pointImageOut = nullptr;
417385
}
386+
/*! - Encode the cv mat into a png for the future modules to decode it the same way */
387+
std::vector<unsigned char> buf;
388+
std::vector<int> compression = {cv::IMWRITE_PNG_COMPRESSION, 0};
389+
if (!cv::imencode(".png", blurred, buf, compression) || buf.empty()) {
390+
bskLogger.bskLog(BSK_ERROR, "camera: failed to encode image output buffer.");
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return;
392+
}
393+
if (buf.size() > (size_t)std::numeric_limits<int32_t>::max()) {
394+
bskLogger.bskLog(BSK_ERROR, "camera: encoded image output buffer is too large.");
395+
return;
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}
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/*! - Output the saved image */
398+
imageOut.valid = 1;
399+
imageOut.timeTag = imageBuffer.timeTag;
400+
imageOut.cameraID = imageBuffer.cameraID;
401+
imageOut.imageType = imageBuffer.imageType;
402+
imageOut.imageBufferLength = (int32_t)buf.size();
403+
this->pointImageOut = malloc(imageOut.imageBufferLength*sizeof(char));
404+
if (this->pointImageOut == nullptr) {
405+
bskLogger.bskLog(BSK_ERROR, "camera: failed to allocate image output buffer.");
406+
return;
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}
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memcpy(this->pointImageOut, buf.data(), imageOut.imageBufferLength*sizeof(char));
409+
imageOut.imagePointer = this->pointImageOut;
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this->imageOutMsg.write(&imageOut, this->moduleID, currentSimNanos);
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}

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