RSDK-8017: linting action

.github/workflows/golangci-lint.yml

@@ -0,0 +1,28 @@
+name: golangci-lint
+on:
+  push:
+    branches:
+      - main
+      - master
+  pull_request: 
+    branches: 
+      - main
+
+permissions:
+  contents: read
+  # Optional: allow read access to pull request. Use with `only-new-issues` option.
+  pull-requests: read
+
+jobs:
+  golangci:
+    name: lint
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - uses: actions/setup-go@v5
+        with:
+          go-version: stable
+      - name: golangci-lint
+        uses: golangci/golangci-lint-action@v6
+        with:
+          version: v1.59

Makefile

@@ -69,3 +69,7 @@ docker-amd64-ci: BUILD_PUSH = --push
 docker-amd64-ci:
 	$(BUILD_CMD)
 
+# Test target for running Go tests
+test:
+	go test ./oceanprefilter
+

go.mod

@@ -6,7 +6,7 @@ require (
 	github.com/pkg/errors v0.9.1
 	go.viam.com/rdk v0.28.0
 	go.viam.com/utils v0.1.79
-	gocv.io/x/gocv v0.36.1
+	gocv.io/x/gocv v0.37.0
 )
 
 require (

go.sum

@@ -1111,6 +1111,8 @@ go4.org/unsafe/assume-no-moving-gc v0.0.0-20230525183740-e7c30c78aeb2 h1:WJhcL4p
 go4.org/unsafe/assume-no-moving-gc v0.0.0-20230525183740-e7c30c78aeb2/go.mod h1:FftLjUGFEDu5k8lt0ddY+HcrH/qU/0qk+H8j9/nTl3E=
 gocv.io/x/gocv v0.36.1 h1:6XkEaPOk7h/umjy+MXgSEtSeCIgcPJhccUjrJFhjdTY=
 gocv.io/x/gocv v0.36.1/go.mod h1:lmS802zoQmnNvXETpmGriBqWrENPei2GxYx5KUxJsMA=
+gocv.io/x/gocv v0.37.0 h1:sISHvnApErjoJodz1Dxb8UAkFdITOB3vXGslbVu6Knk=
+gocv.io/x/gocv v0.37.0/go.mod h1:lmS802zoQmnNvXETpmGriBqWrENPei2GxYx5KUxJsMA=
 goji.io v2.0.2+incompatible h1:uIssv/elbKRLznFUy3Xj4+2Mz/qKhek/9aZQDUMae7c=
 goji.io v2.0.2+incompatible/go.mod h1:sbqFwrtqZACxLBTQcdgVjFh54yGVCvwq8+w49MVMMIk=
 golang.org/x/arch v0.0.0-20210923205945-b76863e36670 h1:18EFjUmQOcUvxNYSkA6jO9VAiXCnxFY6NyDX0bHDmkU=

oceanprefilter/histogram_compare.go

@@ -3,7 +3,6 @@ package oceanprefilter
 import (
 	"fmt"
 	"image"
-	"image/draw"
 	"math"
 
 	"github.com/pkg/errors"
@@ -113,15 +112,6 @@ func histogramTrigger(oldHist, newHist Histogram, thresh float64) bool {
 	return trigger
 }
 
-func convertToFloat64(uint8Slice []uint8) []float64 {
-	float64Slice := make([]float64, len(uint8Slice))
-
-	for i, v := range uint8Slice {
-		float64Slice[i] = float64(v)
-	}
-	return float64Slice
-}
-
 func createGrayHistograms(pic image.Image) []Histogram {
 	hists := make([]Histogram, 0, 1)
 	img := toGray(pic)
@@ -136,47 +126,6 @@ func createGrayHistograms(pic image.Image) []Histogram {
 	return hists
 }
 
-func createColorHistograms(pic image.Image) []Histogram {
-	hists := make([]Histogram, 0, 3)
-	img := image.NewRGBA(pic.Bounds())
-	if rgbaImg, ok := pic.(*image.RGBA); ok {
-		img = rgbaImg
-	} else {
-		draw.Draw(img, pic.Bounds(), pic, pic.Bounds().Min, draw.Src)
-	}
-	rPix := []float64{}
-	gPix := []float64{}
-	bPix := []float64{}
-	for x := 0; x < img.Bounds().Dx(); x++ {
-		for y := 0; y < img.Bounds().Dy(); y++ {
-			c := img.RGBAAt(x, y)
-			rPix = append(rPix, float64(c.R))
-			gPix = append(gPix, float64(c.G))
-			bPix = append(bPix, float64(c.B))
-		}
-	}
-	hists = append(hists, Hist(32, 0, 256, rPix)) // 32 bin, 8 values in each bin in 255 total
-	hists = append(hists, Hist(32, 0, 256, gPix)) // 32 bin, 8 values in each bin in 255 total
-	hists = append(hists, Hist(32, 0, 256, bPix)) // 32 bin, 8 values in each bin in 255 total
-	return hists
-}
-
-// basicCompare compares two histograms and returns a measure of their difference
-func basicCompare(hist1, hist2 Histogram) float64 {
-	var sum float64
-	for i := range hist1.Buckets {
-		diff := hist1.Buckets[i].Count - hist2.Buckets[i].Count
-		if diff < 0 {
-			diff = -diff
-		}
-		sum += float64(diff)
-	}
-	// Normalize the difference based on the number of pixels
-	totalPixels := float64(hist1.Count + hist2.Count) // hist2 has the same number of pixels
-	score := sum / totalPixels
-	return score
-}
-
 // histogramToECDF converts a histogram to an empirical cumulative distribution function (ECDF)
 // Assumes histogram bins are evenly distributed over the data range
 func histogramToECDF(hist Histogram) []float64 {

oceanprefilter/oceanprefilter.go

@@ -91,7 +91,6 @@ type runConfig struct {
 	detector      vision.Service
 	chosenLabels  map[string]float64
 	frequency     float64
-	minConfidence float64
 	threshold     float64
 	excludedZone  *image.Rectangle
 	motionTrigger bool