RSDK-8017: linting action (#9)

* added unit tests

* added linting action and fixed linting issues

* added a timeout to lint yml

* trying to fix timeout

* trying to fix lint github action

* trying to fix dependencies

* runnning linter on docker container

* running linter on docker container

* trying to fix lint errors

* trying to fix go set up

* trying to fix go set up

* trying to fix VCS linting issue

* trying to fix VCS linting issue pt 2

* trying to fix VCS linting issue pt 2

* trying to fix VCS linting issue pt 3

* trying to fix VCS linting issue pt 4

* trying to fix VCS linting issue pt 5

* trying to fix VCS linting issue pt 5

* trying to fix VCS linting issue pt 6

* trying to fix VCS linting issue pt 7

* trying to fix VCS linting issue pt 8

* trying to fix VCS linting issue pt 9

* trying to fix VCS linting issue pt 10

* trying make lint

* added golangci-lint to docker image

* added linting action and fixed linting issues

* added a timeout to lint yml

* trying to fix timeout

* trying to fix lint github action

* trying to fix dependencies

* runnning linter on docker container

* running linter on docker container

* trying to fix lint errors

* trying to fix go set up

* trying to fix go set up

* trying to fix VCS linting issue

* trying to fix VCS linting issue pt 2

* trying to fix VCS linting issue pt 2

* trying to fix VCS linting issue pt 3

* trying to fix VCS linting issue pt 4

* trying to fix VCS linting issue pt 5

* trying to fix VCS linting issue pt 5

* trying to fix VCS linting issue pt 6

* trying to fix VCS linting issue pt 7

* trying to fix VCS linting issue pt 8

* trying to fix VCS linting issue pt 9

* trying to fix VCS linting issue pt 10

* trying make lint

* added timeout to lint

* trying to fix VCS error

* go mod tidy

* fixing go version

* testing make lint

* testing make lint without make test

* adding make test back in

* added path to make test

---------

Co-authored-by: Bijan Haney <[email protected]>

Author: dhritinaidu

.github/workflows/test.yml

@@ -0,0 +1,31 @@
+name: Run lint & unit tests
+
+on:
+  push:
+    branches: [ "main" ]
+  pull_request:
+    branches: [ "main" ]
+
+jobs:
+  build:
+    name: "Run unit tests"
+    runs-on: [buildjet-2vcpu-ubuntu-2204-arm]
+    container:
+      image: ghcr.io/viamrobotics/ocean-prefilter:arm64
+      options: --platform linux/arm64
+
+    steps:
+    - uses: actions/checkout@v4
+
+    - name: Set up Go
+      uses: actions/setup-go@v4
+      with:
+        go-version: '1.21'
+
+
+
+    - name: Run lint
+      run: make lint
+
+    - name: Run unit tests
+      run: make test

Makefile

@@ -69,3 +69,16 @@ docker-amd64-ci: BUILD_PUSH = --push
 docker-amd64-ci:
 	$(BUILD_CMD)
 
+# Test target for running Go tests
+test:
+	LD_LIBRARY_PATH=/usr/local/lib:/usr/lib go test ./oceanprefilter
+
+
+# Docker image and container details
+DOCKER_IMAGE := ghcr.io/viamrobotics/ocean-prefilter:arm64
+
+# Lint rule
+lint:
+	GOFLAGS="-buildvcs=false" golangci-lint run --timeout 10m ./
+
+

go.mod

@@ -2,11 +2,14 @@ module github.com/viamrobotics/ocean-prefilter
 
 go 1.21.7
 
+toolchain go1.21.12
+
 require (
 	github.com/pkg/errors v0.9.1
 	go.viam.com/rdk v0.28.0
+	go.viam.com/test v1.1.1-0.20220913152726-5da9916c08a2
 	go.viam.com/utils v0.1.79
-	gocv.io/x/gocv v0.36.1
+	gocv.io/x/gocv v0.37.0
 )
 
 require (
@@ -45,6 +48,7 @@ require (
 	github.com/go-gl/mathgl v1.0.0 // indirect
 	github.com/go-latex/latex v0.0.0-20230307184459-12ec69307ad9 // indirect
 	github.com/go-pdf/fpdf v0.6.0 // indirect
+	github.com/go-playground/validator/v10 v10.14.0 // indirect
 	github.com/go-viper/mapstructure/v2 v2.0.0-alpha.1 // indirect
 	github.com/goccy/go-json v0.10.2 // indirect
 	github.com/golang-jwt/jwt/v4 v4.5.0 // indirect
@@ -54,6 +58,7 @@ require (
 	github.com/golang/protobuf v1.5.3 // indirect
 	github.com/golang/snappy v0.0.4 // indirect
 	github.com/gonuts/binary v0.2.0 // indirect
+	github.com/google/flatbuffers v2.0.8+incompatible // indirect
 	github.com/google/go-cmp v0.5.9 // indirect
 	github.com/google/s2a-go v0.1.4 // indirect
 	github.com/google/uuid v1.6.0 // indirect
@@ -65,8 +70,11 @@ require (
 	github.com/improbable-eng/grpc-web v0.15.0 // indirect
 	github.com/jedib0t/go-pretty/v6 v6.4.6 // indirect
 	github.com/jhump/protoreflect v1.15.1 // indirect
+	github.com/json-iterator/go v1.1.12 // indirect
 	github.com/kellydunn/golang-geo v0.7.0 // indirect
 	github.com/klauspost/compress v1.16.5 // indirect
+	github.com/klauspost/cpuid/v2 v2.2.4 // indirect
+	github.com/kr/pretty v0.3.1 // indirect
 	github.com/kylelemons/go-gypsy v1.0.0 // indirect
 	github.com/lestrrat-go/backoff/v2 v2.0.8 // indirect
 	github.com/lestrrat-go/blackmagic v1.0.2 // indirect
@@ -104,11 +112,13 @@ require (
 	github.com/pion/webrtc/v3 v3.2.36 // indirect
 	github.com/pmezard/go-difflib v1.0.0 // indirect
 	github.com/rivo/uniseg v0.4.4 // indirect
+	github.com/rogpeppe/go-internal v1.10.0 // indirect
 	github.com/rs/cors v1.9.0 // indirect
 	github.com/sergi/go-diff v1.3.1 // indirect
 	github.com/smartystreets/assertions v1.13.0 // indirect
 	github.com/srikrsna/protoc-gen-gotag v0.6.2 // indirect
 	github.com/stretchr/testify v1.9.0 // indirect
+	github.com/ugorji/go/codec v1.2.11 // indirect
 	github.com/viam-labs/go-libjpeg v0.3.1 // indirect
 	github.com/xdg-go/pbkdf2 v1.0.0 // indirect
 	github.com/xdg-go/scram v1.1.2 // indirect
@@ -125,7 +135,7 @@ require (
 	go.uber.org/multierr v1.11.0 // indirect
 	go.uber.org/zap v1.24.0 // indirect
 	go.viam.com/api v0.1.302 // indirect
-	go.viam.com/test v1.1.1-0.20220913152726-5da9916c08a2 // indirect
+	golang.org/x/arch v0.3.0 // indirect
 	golang.org/x/crypto v0.23.0 // indirect
 	golang.org/x/exp v0.0.0-20230725012225-302865e7556b // indirect
 	golang.org/x/image v0.15.0 // indirect

go.sum

@@ -257,6 +257,8 @@ github.com/fullstorydev/grpcurl v1.6.0/go.mod h1:ZQ+ayqbKMJNhzLmbpCiurTVlaK2M/3n
 github.com/fullstorydev/grpcurl v1.8.6 h1:WylAwnPauJIofYSHqqMTC1eEfUIzqzevXyogBxnQquo=
 github.com/fullstorydev/grpcurl v1.8.6/go.mod h1:WhP7fRQdhxz2TkL97u+TCb505sxfH78W1usyoB3tepw=
 github.com/fzipp/gocyclo v0.3.1/go.mod h1:DJHO6AUmbdqj2ET4Z9iArSuwWgYDRryYt2wASxc7x3E=
+github.com/gabriel-vasile/mimetype v1.4.2 h1:w5qFW6JKBz9Y393Y4q372O9A7cUSequkh1Q7OhCmWKU=
+github.com/gabriel-vasile/mimetype v1.4.2/go.mod h1:zApsH/mKG4w07erKIaJPFiX0Tsq9BFQgN3qGY5GnNgA=
 github.com/gen2brain/malgo v0.11.21 h1:qsS4Dh6zhZgmvAW5CtKRxDjQzHbc2NJlBG9eE0tgS8w=
 github.com/gen2brain/malgo v0.11.21/go.mod h1:f9TtuN7DVrXMiV/yIceMeWpvanyVzJQMlBecJFVMxww=
 github.com/ghodss/yaml v1.0.0/go.mod h1:4dBDuWmgqj2HViK6kFavaiC9ZROes6MMH2rRYeMEF04=
@@ -303,12 +305,15 @@ github.com/go-ole/go-ole v1.2.4/go.mod h1:XCwSNxSkXRo4vlyPy93sltvi/qJq0jqQhjqQNI
 github.com/go-pdf/fpdf v0.6.0 h1:MlgtGIfsdMEEQJr2le6b/HNr1ZlQwxyWr77r2aj2U/8=
 github.com/go-pdf/fpdf v0.6.0/go.mod h1:HzcnA+A23uwogo0tp9yU+l3V+KXhiESpt1PMayhOh5M=
 github.com/go-playground/assert/v2 v2.0.1/go.mod h1:VDjEfimB/XKnb+ZQfWdccd7VUvScMdVu0Titje2rxJ4=
-github.com/go-playground/locales v0.13.0 h1:HyWk6mgj5qFqCT5fjGBuRArbVDfE4hi8+e8ceBS/t7Q=
 github.com/go-playground/locales v0.13.0/go.mod h1:taPMhCMXrRLJO55olJkUXHZBHCxTMfnGwq/HNwmWNS8=
-github.com/go-playground/universal-translator v0.17.0 h1:icxd5fm+REJzpZx7ZfpaD876Lmtgy7VtROAbHHXk8no=
+github.com/go-playground/locales v0.14.1 h1:EWaQ/wswjilfKLTECiXz7Rh+3BjFhfDFKv/oXslEjJA=
+github.com/go-playground/locales v0.14.1/go.mod h1:hxrqLVvrK65+Rwrd5Fc6F2O76J/NuW9t0sjnWqG1slY=
 github.com/go-playground/universal-translator v0.17.0/go.mod h1:UkSxE5sNxxRwHyU+Scu5vgOQjsIJAF8j9muTVoKLVtA=
-github.com/go-playground/validator/v10 v10.2.0 h1:KgJ0snyC2R9VXYN2rneOtQcw5aHQB1Vv0sFl1UcHBOY=
+github.com/go-playground/universal-translator v0.18.1 h1:Bcnm0ZwsGyWbCzImXv+pAJnYK9S473LQFuzCbDbfSFY=
+github.com/go-playground/universal-translator v0.18.1/go.mod h1:xekY+UJKNuX9WP91TpwSH2VMlDf28Uj24BCp08ZFTUY=
 github.com/go-playground/validator/v10 v10.2.0/go.mod h1:uOYAAleCW8F/7oMFd6aG0GOhaH6EGOAJShg8Id5JGkI=
+github.com/go-playground/validator/v10 v10.14.0 h1:vgvQWe3XCz3gIeFDm/HnTIbj6UGmg/+t63MyGU2n5js=
+github.com/go-playground/validator/v10 v10.14.0/go.mod h1:9iXMNT7sEkjXb0I+enO7QXmzG6QCsPWY4zveKFVRSyU=
 github.com/go-redis/redis v6.15.8+incompatible/go.mod h1:NAIEuMOZ/fxfXJIrKDQDz8wamY7mA7PouImQ2Jvg6kA=
 github.com/go-restruct/restruct v1.2.0-alpha.0.20210525045353-983b86fa188e h1:PIFVUcdZ9OADg9XAsN0I8OzUzmYXHU+2msP2X7ST/fo=
 github.com/go-restruct/restruct v1.2.0-alpha.0.20210525045353-983b86fa188e/go.mod h1:KqrpKpn4M8OLznErihXTGLlsXFGeLxHUrLRRI/1YjGk=
@@ -415,8 +420,8 @@ github.com/google/btree v0.0.0-20180813153112-4030bb1f1f0c/go.mod h1:lNA+9X1NB3Z
 github.com/google/btree v1.0.0/go.mod h1:lNA+9X1NB3Zf8V7Ke586lFgjr2dZNuvo3lPJSGZ5JPQ=
 github.com/google/certificate-transparency-go v1.0.21/go.mod h1:QeJfpSbVSfYc7RgB3gJFj9cbuQMMchQxrWXz8Ruopmg=
 github.com/google/certificate-transparency-go v1.1.1/go.mod h1:FDKqPvSXawb2ecErVRrD+nfy23RCzyl7eqVCEmlT1Zs=
-github.com/google/flatbuffers v2.0.6+incompatible h1:XHFReMv7nFFusa+CEokzWbzaYocKXI6C7hdU5Kgh9Lw=
-github.com/google/flatbuffers v2.0.6+incompatible/go.mod h1:1AeVuKshWv4vARoZatz6mlQ0JxURH0Kv5+zNeJKJCa8=
+github.com/google/flatbuffers v2.0.8+incompatible h1:ivUb1cGomAB101ZM1T0nOiWz9pSrTMoa9+EiY7igmkM=
+github.com/google/flatbuffers v2.0.8+incompatible/go.mod h1:1AeVuKshWv4vARoZatz6mlQ0JxURH0Kv5+zNeJKJCa8=
 github.com/google/go-cmp v0.2.0/go.mod h1:oXzfMopK8JAjlY9xF4vHSVASa0yLyX7SntLO5aqRK0M=
 github.com/google/go-cmp v0.3.0/go.mod h1:8QqcDgzrUqlUb/G2PQTWiueGozuR1884gddMywk6iLU=
 github.com/google/go-cmp v0.3.1/go.mod h1:8QqcDgzrUqlUb/G2PQTWiueGozuR1884gddMywk6iLU=
@@ -562,8 +567,9 @@ github.com/json-iterator/go v1.1.6/go.mod h1:+SdeFBvtyEkXs7REEP0seUULqWtbJapLOCV
 github.com/json-iterator/go v1.1.7/go.mod h1:KdQUCv79m/52Kvf8AW2vK1V8akMuk1QjK/uOdHXbAo4=
 github.com/json-iterator/go v1.1.8/go.mod h1:KdQUCv79m/52Kvf8AW2vK1V8akMuk1QjK/uOdHXbAo4=
 github.com/json-iterator/go v1.1.9/go.mod h1:KdQUCv79m/52Kvf8AW2vK1V8akMuk1QjK/uOdHXbAo4=
-github.com/json-iterator/go v1.1.10 h1:Kz6Cvnvv2wGdaG/V8yMvfkmNiXq9Ya2KUv4rouJJr68=
 github.com/json-iterator/go v1.1.10/go.mod h1:KdQUCv79m/52Kvf8AW2vK1V8akMuk1QjK/uOdHXbAo4=
+github.com/json-iterator/go v1.1.12 h1:PV8peI4a0ysnczrg+LtxykD8LfKY9ML6u2jnxaEnrnM=
+github.com/json-iterator/go v1.1.12/go.mod h1:e30LSqwooZae/UwlEbR2852Gd8hjQvJoHmT4TnhNGBo=
 github.com/jstemmer/go-junit-report v0.0.0-20190106144839-af01ea7f8024/go.mod h1:6v2b51hI/fHJwM22ozAgKL4VKDeJcHhJFhtBdhmNjmU=
 github.com/jstemmer/go-junit-report v0.9.1/go.mod h1:Brl9GWCQeLvo8nXZwPNNblvFj/XSXhF0NWZEnDohbsk=
 github.com/jtolds/gls v4.20.0+incompatible/go.mod h1:QJZ7F/aHp+rZTRtaJ1ow/lLfFfVYBRgL+9YlvaHOwJU=
@@ -588,16 +594,18 @@ github.com/klauspost/compress v1.11.7/go.mod h1:aoV0uJVorq1K+umq18yTdKaF57EivdYs
 github.com/klauspost/compress v1.13.6/go.mod h1:/3/Vjq9QcHkK5uEr5lBEmyoZ1iFhe47etQ6QUkpK6sk=
 github.com/klauspost/compress v1.16.5 h1:IFV2oUNUzZaz+XyusxpLzpzS8Pt5rh0Z16For/djlyI=
 github.com/klauspost/compress v1.16.5/go.mod h1:ntbaceVETuRiXiv4DpjP66DpAtAGkEQskQzEyD//IeE=
-github.com/klauspost/cpuid/v2 v2.0.9 h1:lgaqFMSdTdQYdZ04uHyN2d/eKdOMyi2YLSvlQIBFYa4=
 github.com/klauspost/cpuid/v2 v2.0.9/go.mod h1:FInQzS24/EEf25PyTYn52gqo7WaD8xa0213Md/qVLRg=
+github.com/klauspost/cpuid/v2 v2.2.4 h1:acbojRNwl3o09bUq+yDCtZFc1aiwaAAxtcn8YkZXnvk=
+github.com/klauspost/cpuid/v2 v2.2.4/go.mod h1:RVVoqg1df56z8g3pUjL/3lE5UfnlrJX8tyFgg4nqhuY=
 github.com/knz/go-libedit v1.10.1/go.mod h1:MZTVkCWyz0oBc7JOWP3wNAzd002ZbM/5hgShxwh4x8M=
 github.com/konsorten/go-windows-terminal-sequences v1.0.1/go.mod h1:T0+1ngSBFLxvqU3pZ+m/2kptfBszLMUkC4ZK/EgS/cQ=
 github.com/konsorten/go-windows-terminal-sequences v1.0.2/go.mod h1:T0+1ngSBFLxvqU3pZ+m/2kptfBszLMUkC4ZK/EgS/cQ=
 github.com/konsorten/go-windows-terminal-sequences v1.0.3/go.mod h1:T0+1ngSBFLxvqU3pZ+m/2kptfBszLMUkC4ZK/EgS/cQ=
 github.com/kr/fs v0.1.0/go.mod h1:FFnZGqtBN9Gxj7eW1uZ42v5BccTP0vu6NEaFoC2HwRg=
 github.com/kr/logfmt v0.0.0-20140226030751-b84e30acd515/go.mod h1:+0opPa2QZZtGFBFZlji/RkVcI2GknAs/DXo4wKdlNEc=
-github.com/kr/pretty v0.1.0 h1:L/CwN0zerZDmRFUapSPitk6f+Q3+0za1rQkzVuMiMFI=
 github.com/kr/pretty v0.1.0/go.mod h1:dAy3ld7l9f0ibDNOQOHHMYYIIbhfbHSm3C4ZsoJORNo=
+github.com/kr/pretty v0.3.1 h1:flRD4NNwYAUpkphVc1HcthR4KEIFJ65n8Mw5qdRn3LE=
+github.com/kr/pretty v0.3.1/go.mod h1:hoEshYVHaxMs3cyo3Yncou5ZscifuDolrwPKZanG3xk=
 github.com/kr/pty v1.1.1/go.mod h1:pFQYn66WHrOpPYNljwOMqo10TkYh1fy3cYio2l3bCsQ=
 github.com/kr/text v0.1.0/go.mod h1:4Jbv+DJW3UT/LiOwJeYQe1efqtUx/iVham/4vfdArNI=
 github.com/kr/text v0.2.0 h1:5Nx0Ya0ZqY2ygV366QzturHI13Jq95ApcVaJBhpS+AY=
@@ -609,8 +617,9 @@ github.com/kylelemons/go-gypsy v1.0.0/go.mod h1:chkXM0zjdpXOiqkCW1XcCHDfjfk14PH2
 github.com/kylelemons/godebug v1.1.0/go.mod h1:9/0rRGxNHcop5bhtWyNeEfOS8JIWk580+fNqagV/RAw=
 github.com/kyoh86/exportloopref v0.1.8/go.mod h1:1tUcJeiioIs7VWe5gcOObrux3lb66+sBqGZrRkMwPgg=
 github.com/ldez/gomoddirectives v0.2.1/go.mod h1:sGicqkRgBOg//JfpXwkB9Hj0X5RyJ7mlACM5B9f6Me4=
-github.com/leodido/go-urn v1.2.0 h1:hpXL4XnriNwQ/ABnpepYM/1vCLWNDfUNts8dX3xTG6Y=
 github.com/leodido/go-urn v1.2.0/go.mod h1:+8+nEpDfqqsY+g338gtMEUOtuK+4dEMhiQEgxpxOKII=
+github.com/leodido/go-urn v1.2.4 h1:XlAE/cm/ms7TE/VMVoduSpNBoyc2dOxHs5MZSwAN63Q=
+github.com/leodido/go-urn v1.2.4/go.mod h1:7ZrI8mTSeBSHl/UaRyKQW1qZeMgak41ANeCNaVckg+4=
 github.com/lestrrat-go/backoff/v2 v2.0.8 h1:oNb5E5isby2kiro9AgdHLv5N5tint1AnDVVf2E2un5A=
 github.com/lestrrat-go/backoff/v2 v2.0.8/go.mod h1:rHP/q/r9aT27n24JQLa7JhSQZCKBBOiM/uP402WwN8Y=
 github.com/lestrrat-go/blackmagic v1.0.2 h1:Cg2gVSc9h7sz9NOByczrbUvLopQmXrfFx//N+AkAr5k=
@@ -707,8 +716,9 @@ github.com/modern-go/concurrent v0.0.0-20180228061459-e0a39a4cb421/go.mod h1:6dJ
 github.com/modern-go/concurrent v0.0.0-20180306012644-bacd9c7ef1dd h1:TRLaZ9cD/w8PVh93nsPXa1VrQ6jlwL5oN8l14QlcNfg=
 github.com/modern-go/concurrent v0.0.0-20180306012644-bacd9c7ef1dd/go.mod h1:6dJC0mAP4ikYIbvyc7fijjWJddQyLn8Ig3JB5CqoB9Q=
 github.com/modern-go/reflect2 v0.0.0-20180701023420-4b7aa43c6742/go.mod h1:bx2lNnkwVCuqBIxFjflWJWanXIb3RllmbCylyMrvgv0=
-github.com/modern-go/reflect2 v1.0.1 h1:9f412s+6RmYXLWZSEzVVgPGK7C2PphHj5RJrvfx9AWI=
 github.com/modern-go/reflect2 v1.0.1/go.mod h1:bx2lNnkwVCuqBIxFjflWJWanXIb3RllmbCylyMrvgv0=
+github.com/modern-go/reflect2 v1.0.2 h1:xBagoLtFs94CBntxluKeaWgTMpvLxC4ur3nMaC9Gz0M=
+github.com/modern-go/reflect2 v1.0.2/go.mod h1:yWuevngMOJpCy52FWWMvUC8ws7m/LJsjYzDa0/r8luk=
 github.com/mohae/deepcopy v0.0.0-20170929034955-c48cc78d4826/go.mod h1:TaXosZuwdSHYgviHp1DAtfrULt5eUgsSMsZf+YrPgl8=
 github.com/montanaflynn/stats v0.0.0-20171201202039-1bf9dbcd8cbe/go.mod h1:wL8QJuTMNUDYhXwkmfOly8iTdp5TEcJFWZD2D7SIkUc=
 github.com/montanaflynn/stats v0.7.0 h1:r3y12KyNxj/Sb/iOE46ws+3mS1+MZca1wlHQFPsY/JU=
@@ -837,6 +847,7 @@ github.com/pion/turn/v2 v2.1.3 h1:pYxTVWG2gpC97opdRc5IGsQ1lJ9O/IlNhkzj7MMrGAA=
 github.com/pion/turn/v2 v2.1.3/go.mod h1:huEpByKKHix2/b9kmTAM3YoX6MKP+/D//0ClgUYR2fY=
 github.com/pion/webrtc/v3 v3.2.36 h1:RM/miAv0M4TrhhS7h2mcZXt44K68WmpVDkUOgz2l2l8=
 github.com/pion/webrtc/v3 v3.2.36/go.mod h1:wWQz1PuKNSNK4VrJJNpPN3vZmKEi4zA6i2ynaQOlxIU=
+github.com/pkg/diff v0.0.0-20210226163009-20ebb0f2a09e/go.mod h1:pJLUxLENpZxwdsKMEsNbx1VGcRFpLqf3715MtcvvzbA=
 github.com/pkg/errors v0.8.0/go.mod h1:bwawxfHBFNV+L2hUp1rHADufV3IMtnDRdf1r5NINEl0=
 github.com/pkg/errors v0.8.1/go.mod h1:bwawxfHBFNV+L2hUp1rHADufV3IMtnDRdf1r5NINEl0=
 github.com/pkg/errors v0.9.1 h1:FEBLx1zS214owpjy7qsBeixbURkuhQAwrK5UwLGTwt4=
@@ -898,6 +909,9 @@ github.com/rogpeppe/fastuuid v0.0.0-20150106093220-6724a57986af/go.mod h1:XWv6So
 github.com/rogpeppe/fastuuid v1.2.0/go.mod h1:jVj6XXZzXRy/MSR5jhDC/2q6DgLz+nrA6LYCDYWNEvQ=
 github.com/rogpeppe/go-internal v1.3.0/go.mod h1:M8bDsm7K2OlrFYOpmOWEs/qY81heoFRclV5y23lUDJ4=
 github.com/rogpeppe/go-internal v1.6.2/go.mod h1:xXDCJY+GAPziupqXw64V24skbSoqbTEfhy4qGm1nDQc=
+github.com/rogpeppe/go-internal v1.9.0/go.mod h1:WtVeX8xhTBvf0smdhujwtBcq4Qrzq/fJaraNFVN+nFs=
+github.com/rogpeppe/go-internal v1.10.0 h1:TMyTOH3F/DB16zRVcYyreMH6GnZZrwQVAoYjRBZyWFQ=
+github.com/rogpeppe/go-internal v1.10.0/go.mod h1:UQnix2H7Ngw/k4C5ijL5+65zddjncjaFoBhdsK/akog=
 github.com/rs/cors v1.7.0/go.mod h1:gFx+x8UowdsKA9AchylcLynDq+nNFfI8FkUZdN/jGCU=
 github.com/rs/cors v1.9.0 h1:l9HGsTsHJcvW14Nk7J9KFz8bzeAWXn3CG6bgt7LsrAE=
 github.com/rs/cors v1.9.0/go.mod h1:XyqrcTp5zjWr1wsJ8PIRZssZ8b/WMcMf71DJnit4EMU=
@@ -1004,11 +1018,11 @@ github.com/u2takey/ffmpeg-go v0.4.1 h1:l5ClIwL3N2LaH1zF3xivb3kP2HW95eyG5xhHE1JdZ
 github.com/u2takey/ffmpeg-go v0.4.1/go.mod h1:ruZWkvC1FEiUNjmROowOAps3ZcWxEiOpFoHCvk97kGc=
 github.com/u2takey/go-utils v0.3.1 h1:TaQTgmEZZeDHQFYfd+AdUT1cT4QJgJn/XVPELhHw4ys=
 github.com/u2takey/go-utils v0.3.1/go.mod h1:6e+v5vEZ/6gu12w/DC2ixZdZtCrNokVxD0JUklcqdCs=
-github.com/ugorji/go v1.1.7 h1:/68gy2h+1mWMrwZFeD1kQialdSzAb432dtpeJ42ovdo=
 github.com/ugorji/go v1.1.7/go.mod h1:kZn38zHttfInRq0xu/PH0az30d+z6vm202qpg1oXVMw=
 github.com/ugorji/go/codec v0.0.0-20181204163529-d75b2dcb6bc8/go.mod h1:VFNgLljTbGfSG7qAOspJ7OScBnGdDN/yBr0sguwnwf0=
-github.com/ugorji/go/codec v1.1.7 h1:2SvQaVZ1ouYrrKKwoSk2pzd4A9evlKJb9oTL+OaLUSs=
 github.com/ugorji/go/codec v1.1.7/go.mod h1:Ax+UKWsSmolVDwsd+7N3ZtXu+yMGCf907BLYF3GoBXY=
+github.com/ugorji/go/codec v1.2.11 h1:BMaWp1Bb6fHwEtbplGBGJ498wD+LKlNSl25MjdZY4dU=
+github.com/ugorji/go/codec v1.2.11/go.mod h1:UNopzCgEMSXjBc6AOMqYvWC1ktqTAfzJZUZgYf6w6lg=
 github.com/ultraware/funlen v0.0.3/go.mod h1:Dp4UiAus7Wdb9KUZsYWZEWiRzGuM2kXM1lPbfaF6xhA=
 github.com/ultraware/whitespace v0.0.4/go.mod h1:aVMh/gQve5Maj9hQ/hg+F75lr/X5A89uZnzAmWSineA=
 github.com/urfave/cli v1.20.0/go.mod h1:70zkFmudgCuE/ngEzBv17Jvp/497gISqfk5gWijbERA=
@@ -1109,12 +1123,13 @@ go.viam.com/utils v0.1.79 h1:rLxMPuJifGaDqQgGsfgzy60dMz6P44n5oEBbLEdggaM=
 go.viam.com/utils v0.1.79/go.mod h1:3xcBBlLsRX2eWpWuQrFJ7UVxsgXwJg8Fx30Rt/kp52g=
 go4.org/unsafe/assume-no-moving-gc v0.0.0-20230525183740-e7c30c78aeb2 h1:WJhcL4p+YeDxmZWg141nRm7XC8IDmhz7lk5GpadO1Sg=
 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=
 golang.org/x/arch v0.0.0-20210923205945-b76863e36670/go.mod h1:5om86z9Hs0C8fWVUuoMHwpExlXzs5Tkyp9hOrfG7pp8=
+golang.org/x/arch v0.3.0 h1:02VY4/ZcO/gBOH6PUaoiptASxtXU10jazRCP865E97k=
+golang.org/x/arch v0.3.0/go.mod h1:5om86z9Hs0C8fWVUuoMHwpExlXzs5Tkyp9hOrfG7pp8=
 golang.org/x/crypto v0.0.0-20180501155221-613d6eafa307/go.mod h1:6SG95UA2DQfeDnfUPMdvaQW0Q7yPrPDi9nlGo2tz2b4=
 golang.org/x/crypto v0.0.0-20180904163835-0709b304e793/go.mod h1:6SG95UA2DQfeDnfUPMdvaQW0Q7yPrPDi9nlGo2tz2b4=
 golang.org/x/crypto v0.0.0-20181029021203-45a5f77698d3/go.mod h1:6SG95UA2DQfeDnfUPMdvaQW0Q7yPrPDi9nlGo2tz2b4=
@@ -1330,6 +1345,7 @@ golang.org/x/sys v0.0.0-20210615035016-665e8c7367d1/go.mod h1:oPkhp1MJrh7nUepCBc
 golang.org/x/sys v0.0.0-20210809222454-d867a43fc93e/go.mod h1:oPkhp1MJrh7nUepCBck5+mAzfO9JrbApNNgaTdGDITg=
 golang.org/x/sys v0.0.0-20211025201205-69cdffdb9359/go.mod h1:oPkhp1MJrh7nUepCBck5+mAzfO9JrbApNNgaTdGDITg=
 golang.org/x/sys v0.0.0-20220520151302-bc2c85ada10a/go.mod h1:oPkhp1MJrh7nUepCBck5+mAzfO9JrbApNNgaTdGDITg=
+golang.org/x/sys v0.0.0-20220704084225-05e143d24a9e/go.mod h1:oPkhp1MJrh7nUepCBck5+mAzfO9JrbApNNgaTdGDITg=
 golang.org/x/sys v0.0.0-20220722155257-8c9f86f7a55f/go.mod h1:oPkhp1MJrh7nUepCBck5+mAzfO9JrbApNNgaTdGDITg=
 golang.org/x/sys v0.0.0-20220908164124-27713097b956/go.mod h1:oPkhp1MJrh7nUepCBck5+mAzfO9JrbApNNgaTdGDITg=
 golang.org/x/sys v0.1.0/go.mod h1:oPkhp1MJrh7nUepCBck5+mAzfO9JrbApNNgaTdGDITg=

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 {