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tests: lib: pixel: add unit tests for format conversion
The tests use data generated by the ffmpeg command line utilty in order to avoid bias by having the same person implementing the tests and the source code. Signed-off-by: Josuah Demangeon <[email protected]>
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‎tests/lib/pixel/bayer/CMakeLists.txt

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# SPDX-License-Identifier: Apache-2.0
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cmake_minimum_required(VERSION 3.20.0)
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find_package(Zephyr REQUIRED HINTS $ENV{ZEPHYR_BASE})
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project(lib_pixel_convert)
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FILE(GLOB app_sources src/*.c)
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target_sources(app PRIVATE ${app_sources})

‎tests/lib/pixel/bayer/prj.conf

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CONFIG_ASSERT=y
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CONFIG_PIXEL_LOG_LEVEL_DBG=y
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CONFIG_ZTEST=y
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CONFIG_PIXEL=y

‎tests/lib/pixel/bayer/src/main.c

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/*
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* Copyright (c) 2025 tinyVision.ai Inc.
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*
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* SPDX-License-Identifier: Apache-2.0
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*/
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#include <zephyr/kernel.h>
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#include <zephyr/random/random.h>
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#include <zephyr/ztest.h>
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#include <zephyr/drivers/video.h>
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#include <zephyr/pixel/print.h>
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#include <zephyr/pixel/image.h>
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#define WIDTH 16
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#define HEIGHT 16
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#define ERROR_MARGIN 13
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static uint8_t bayerframe_in[WIDTH * HEIGHT * 1];
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static uint8_t rgb24frame_out[WIDTH * HEIGHT * 3];
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void test_bayer(uint32_t fourcc, uint32_t window_size, uint32_t expected_color)
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{
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uint8_t r = expected_color >> 16;
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uint8_t g = expected_color >> 8;
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uint8_t b = expected_color >> 0;
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struct pixel_image img;
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int ret;
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pixel_image_from_buffer(&img, bayerframe_in, sizeof(bayerframe_in), WIDTH, HEIGHT, fourcc);
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printf("input:\n");
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pixel_image_print_truecolor(&img);
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ret = pixel_image_debayer(&img, window_size);
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zassert_ok(ret);
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pixel_image_to_buffer(&img, rgb24frame_out, sizeof(rgb24frame_out));
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printf("output: (expecting #%06x, R:%02x G:%02x B:%02x)\n", expected_color, r, g, b);
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pixel_image_print_truecolor(&img);
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for (int i = 0; i < sizeof(rgb24frame_out) / 3; i++) {
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uint8_t out_r = rgb24frame_out[i * 3 + 0];
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uint8_t out_g = rgb24frame_out[i * 3 + 1];
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uint8_t out_b = rgb24frame_out[i * 3 + 2];
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char *s = VIDEO_FOURCC_TO_STR(fourcc);
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zassert_equal(r, out_r, "R: %s: expected 0x%02x, obtained 0x%02x", s, r, out_r);
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zassert_equal(g, out_g, "G: %s: expected 0x%02x, obtained 0x%02x", s, g, out_g);
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zassert_equal(b, out_b, "B: %s: expected 0x%02x, obtained 0x%02x", s, b, out_b);
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}
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}
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ZTEST(lib_pixel_bayer, test_pixel_bayer_operation)
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{
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/* Generate test input data for 2x2 debayer */
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for (size_t h = 0; h < HEIGHT; h++) {
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memset(bayerframe_in + h * WIDTH, h % 2 ? 0xff : 0x00, WIDTH * 1);
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}
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test_bayer(VIDEO_PIX_FMT_RGGB8, 2, 0x007fff);
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test_bayer(VIDEO_PIX_FMT_GRBG8, 2, 0x007fff);
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test_bayer(VIDEO_PIX_FMT_BGGR8, 2, 0xff7f00);
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test_bayer(VIDEO_PIX_FMT_GBRG8, 2, 0xff7f00);
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/* Generate test input data for 3x3 debayer */
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for (size_t h = 0; h < HEIGHT; h++) {
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for (size_t w = 0; w < WIDTH; w++) {
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bayerframe_in[h * WIDTH + w] = (h + w) % 2 ? 0xff : 0x00;
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}
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}
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test_bayer(VIDEO_PIX_FMT_RGGB8, 3, 0x00ff00);
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test_bayer(VIDEO_PIX_FMT_GBRG8, 3, 0xff00ff);
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test_bayer(VIDEO_PIX_FMT_BGGR8, 3, 0x00ff00);
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test_bayer(VIDEO_PIX_FMT_GRBG8, 3, 0xff00ff);
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}
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ZTEST_SUITE(lib_pixel_bayer, NULL, NULL, NULL, NULL, NULL);

‎tests/lib/pixel/bayer/testcase.yaml

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tests:
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libraries.pixel.bayer:
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tags:
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- pixel
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integration_platforms:
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- qemu_cortex_m3
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- native_sim
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extra_configs:
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- CONFIG_PIXEL_PRINT_NONE=y

‎tests/lib/pixel/convert/CMakeLists.txt

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# SPDX-License-Identifier: Apache-2.0
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cmake_minimum_required(VERSION 3.20.0)
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find_package(Zephyr REQUIRED HINTS $ENV{ZEPHYR_BASE})
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project(lib_pixel_convert)
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FILE(GLOB app_sources src/*.c)
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target_sources(app PRIVATE ${app_sources})

‎tests/lib/pixel/convert/prj.conf

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CONFIG_ASSERT=y
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CONFIG_PIXEL_LOG_LEVEL_DBG=y
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CONFIG_ZTEST=y
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CONFIG_PIXEL=y

‎tests/lib/pixel/convert/src/main.c

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/*
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* Copyright (c) 2025 tinyVision.ai Inc.
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*
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* SPDX-License-Identifier: Apache-2.0
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*/
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#include <zephyr/kernel.h>
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#include <zephyr/random/random.h>
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#include <zephyr/ztest.h>
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#include <zephyr/drivers/video.h>
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#include <zephyr/pixel/convert.h>
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#include <zephyr/pixel/print.h>
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#include <zephyr/pixel/image.h>
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#define WIDTH 16
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#define HEIGHT 16
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#define ERROR_MARGIN 13
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/*
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* To get YUV BT.709 test data:
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*
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* ffmpeg -y -f lavfi -colorspace bt709 -i color=#RRGGBB:2x2:d=3,format=rgb24 \
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* -f rawvideo -pix_fmt yuyv422 - | hexdump -C
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*
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* To get RGB565 test data:
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*
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* ffmpeg -y -f lavfi -i color=#RRGGBB:2x2:d=3,format=rgb24 \
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* -f rawvideo -pix_fmt rgb565 - | hexdump -C
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*/
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const struct color_ref {
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uint8_t rgb24[3];
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uint8_t rgb565[2];
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uint8_t rgb332[1];
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uint8_t yuv24_bt709[3];
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uint8_t yuv24_bt601[3];
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} reference_data[] = {
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/* Primary colors */
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{{0x00, 0x00, 0x00}, {0x00, 0x00}, {0x00}, {0x10, 0x80, 0x80}, {0x10, 0x80, 0x80}},
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{{0x00, 0x00, 0xff}, {0x00, 0x1f}, {0x03}, {0x20, 0xf0, 0x76}, {0x29, 0xf1, 0x6e}},
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{{0x00, 0xff, 0x00}, {0x07, 0xe0}, {0x1c}, {0xad, 0x2a, 0x1a}, {0x9a, 0x2a, 0x35}},
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{{0x00, 0xff, 0xff}, {0x07, 0xff}, {0x1f}, {0xbc, 0x9a, 0x10}, {0xb4, 0xa0, 0x23}},
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{{0xff, 0x00, 0x00}, {0xf8, 0x00}, {0xe0}, {0x3f, 0x66, 0xf0}, {0x50, 0x5b, 0xee}},
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{{0xff, 0x00, 0xff}, {0xf8, 0x1f}, {0xe3}, {0x4e, 0xd6, 0xe6}, {0x69, 0xcb, 0xdc}},
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{{0xff, 0xff, 0x00}, {0xff, 0xe0}, {0xfc}, {0xdb, 0x10, 0x8a}, {0xd0, 0x0a, 0x93}},
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{{0xff, 0xff, 0xff}, {0xff, 0xff}, {0xff}, {0xeb, 0x80, 0x80}, {0xeb, 0x80, 0x80}},
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/* Arbitrary colors */
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{{0x00, 0x70, 0xc5}, {0x03, 0x98}, {0x0f}, {0x61, 0xb1, 0x4b}, {0x5e, 0xb5, 0x4d}},
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{{0x33, 0x8d, 0xd1}, {0x3c, 0x7a}, {0x33}, {0x7d, 0xa7, 0x56}, {0x7b, 0xab, 0x57}},
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{{0x66, 0xa9, 0xdc}, {0x6d, 0x5b}, {0x77}, {0x98, 0x9d, 0x61}, {0x96, 0xa0, 0x61}},
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{{0x7d, 0xd2, 0xf7}, {0x86, 0x9e}, {0x7b}, {0xb7, 0x99, 0x59}, {0xb3, 0x9d, 0x5a}},
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{{0x97, 0xdb, 0xf9}, {0x9e, 0xde}, {0x9b}, {0xc2, 0x94, 0x61}, {0xbf, 0x97, 0x62}},
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{{0xb1, 0xe4, 0xfa}, {0xb7, 0x3f}, {0xbf}, {0xcc, 0x8f, 0x69}, {0xca, 0x91, 0x69}},
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{{0x79, 0x29, 0xd2}, {0x79, 0x5a}, {0x67}, {0x4c, 0xc2, 0x9c}, {0x57, 0xbf, 0x96}},
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{{0x94, 0x54, 0xdb}, {0x9a, 0xbb}, {0x8b}, {0x6c, 0xb5, 0x97}, {0x75, 0xb3, 0x92}},
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{{0xaf, 0x7f, 0xe4}, {0xb3, 0xfc}, {0xaf}, {0x8c, 0xa8, 0x91}, {0x93, 0xa6, 0x8d}},
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};
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static uint8_t line_in[WIDTH * 4];
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static uint8_t line_out[WIDTH * 4];
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void test_conversion(const uint8_t *pix_in, uint32_t fourcc_in, size_t pix_in_step,
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const uint8_t *pix_out, uint32_t fourcc_out, size_t pix_out_step,
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void (*fn)(const uint8_t *in, uint8_t *out, uint16_t width))
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{
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size_t pix_in_size = video_bits_per_pixel(fourcc_in) / BITS_PER_BYTE;
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size_t pix_out_size = video_bits_per_pixel(fourcc_out) / BITS_PER_BYTE;
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bool done = false;
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/* Fill the input line as much as possible */
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for (size_t w = 0; w < WIDTH; w += pix_in_step) {
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memcpy(&line_in[w * pix_in_size], pix_in, pix_in_size * pix_in_step);
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}
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/* Perform the conversion to test */
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fn(line_in, line_out, WIDTH);
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printf("\n");
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printf("out:");
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for (int i = 0; i < pix_out_step * pix_out_size; i++) {
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printf(" %02x", line_out[i]);
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}
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printf(" |");
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pixel_print_buffer_truecolor(line_out, sizeof(line_out), WIDTH / 2, 2, fourcc_out);
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printf("ref:");
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for (int i = 0; i < pix_out_step * pix_out_size; i++) {
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printf(" %02x", pix_out[i]);
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}
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printf(" |");
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pixel_print_buffer_truecolor(line_in, sizeof(line_in), WIDTH / 2, 2, fourcc_in);
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/* Scan the result against the reference output pixel to make sure it worked */
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for (size_t w = 0; w < WIDTH; w += pix_out_step) {
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for (int i = 0; w * pix_out_size + i < (w + pix_out_step) * pix_out_size; i++) {
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zassert_within(line_out[w * pix_out_size + i], pix_out[i], 9,
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"at %u: value 0x%02x, reference 0x%02x",
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i, line_out[w * pix_out_size + i], pix_out[i]);
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}
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/* Make sure we visited that loop */
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done = true;
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}
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zassert_true(done);
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}
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ZTEST(lib_pixel_convert, test_pixel_convert_line)
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{
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for (size_t i = 0; i < ARRAY_SIZE(reference_data); i++) {
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/* The current color we are testing */
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const struct color_ref *ref = &reference_data[i];
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/* Generate very small buffers out of the reference tables */
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const uint8_t rgb24[] = {
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ref->rgb24[0],
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ref->rgb24[1],
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ref->rgb24[2],
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};
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const uint8_t rgb565be[] = {
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ref->rgb565[0],
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ref->rgb565[1],
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};
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const uint8_t rgb565le[] = {
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ref->rgb565[1],
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ref->rgb565[0],
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};
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const uint8_t rgb332[] = {
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ref->rgb332[0],
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};
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const uint8_t yuv24_bt709[] = {
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ref->yuv24_bt709[0],
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ref->yuv24_bt709[1],
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ref->yuv24_bt709[2],
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};
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const uint8_t yuyv_bt709[] = {
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ref->yuv24_bt709[0],
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ref->yuv24_bt709[1],
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ref->yuv24_bt709[0],
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ref->yuv24_bt709[2],
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};
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printf("\nColor #%02x%02x%02x\n", ref->rgb24[0], ref->rgb24[1], ref->rgb24[2]);
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test_conversion(rgb24, VIDEO_PIX_FMT_RGB24, 1, rgb565be,
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VIDEO_PIX_FMT_RGB565X, 1, &pixel_line_rgb24_to_rgb565be);
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test_conversion(rgb24, VIDEO_PIX_FMT_RGB24, 1, rgb565le,
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VIDEO_PIX_FMT_RGB565, 1, &pixel_line_rgb24_to_rgb565le);
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test_conversion(rgb24, VIDEO_PIX_FMT_RGB24, 1, rgb332,
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VIDEO_PIX_FMT_RGB332, 1, &pixel_line_rgb24_to_rgb332);
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test_conversion(rgb565be, VIDEO_PIX_FMT_RGB565X, 1, rgb24,
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VIDEO_PIX_FMT_RGB24, 1, &pixel_line_rgb565be_to_rgb24);
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test_conversion(rgb565le, VIDEO_PIX_FMT_RGB565, 1, rgb24,
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VIDEO_PIX_FMT_RGB24, 1, &pixel_line_rgb565le_to_rgb24);
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test_conversion(rgb24, VIDEO_PIX_FMT_RGB24, 1, yuyv_bt709,
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VIDEO_PIX_FMT_YUYV, 2, &pixel_line_rgb24_to_yuyv_bt709);
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test_conversion(yuyv_bt709, VIDEO_PIX_FMT_YUYV, 2, rgb24,
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VIDEO_PIX_FMT_RGB24, 1, &pixel_line_yuyv_to_rgb24_bt709);
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test_conversion(rgb24, VIDEO_PIX_FMT_RGB24, 1, yuv24_bt709,
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VIDEO_PIX_FMT_YUV24, 1, &pixel_line_rgb24_to_yuv24_bt709);
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test_conversion(yuv24_bt709, VIDEO_PIX_FMT_YUV24, 1, rgb24,
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VIDEO_PIX_FMT_RGB24, 1, &pixel_line_yuv24_to_rgb24_bt709);
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test_conversion(yuv24_bt709, VIDEO_PIX_FMT_YUV24, 1, yuyv_bt709,
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VIDEO_PIX_FMT_YUYV, 2, &pixel_line_yuv24_to_yuyv);
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test_conversion(yuyv_bt709, VIDEO_PIX_FMT_YUYV, 2, yuv24_bt709,
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VIDEO_PIX_FMT_YUV24, 1, &pixel_line_yuyv_to_yuv24);
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}
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}
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static uint8_t rgb24frame_in[WIDTH * HEIGHT * 3];
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static uint8_t rgb24frame_out[WIDTH * HEIGHT * 3];
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ZTEST(lib_pixel_convert, test_pixel_convert_operation)
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{
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struct pixel_image img;
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int ret;
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/* Generate test input data */
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for (size_t i = 0; i < sizeof(rgb24frame_in); i++) {
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rgb24frame_in[i] = i / 3;
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}
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pixel_image_from_buffer(&img, rgb24frame_in, sizeof(rgb24frame_in),
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WIDTH, HEIGHT, VIDEO_PIX_FMT_RGB24);
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printf("input:\n");
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pixel_image_print_truecolor(&img);
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ret = pixel_image_convert(&img, VIDEO_PIX_FMT_RGB24);
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zassert_ok(ret);
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/* Test the RGB24 <-> RGB565 conversion */
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ret = pixel_image_convert(&img, VIDEO_PIX_FMT_RGB565);
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zassert_ok(ret);
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ret = pixel_image_convert(&img, VIDEO_PIX_FMT_RGB24);
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zassert_ok(ret);
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/* Test the RGB24 <-> RGB565X conversion */
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ret = pixel_image_convert(&img, VIDEO_PIX_FMT_RGB565X);
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zassert_ok(ret);
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ret = pixel_image_convert(&img, VIDEO_PIX_FMT_RGB24);
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zassert_ok(ret);
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/* Test the RGB24 <-> YUV24 conversion */
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ret = pixel_image_convert(&img, VIDEO_PIX_FMT_YUV24);
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zassert_ok(ret);
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ret = pixel_image_convert(&img, VIDEO_PIX_FMT_RGB24);
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zassert_ok(ret);
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/* Test the YUYV <-> YUV24 conversion */
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ret = pixel_image_convert(&img, VIDEO_PIX_FMT_YUYV);
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zassert_ok(ret);
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ret = pixel_image_convert(&img, VIDEO_PIX_FMT_YUV24);
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zassert_ok(ret);
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ret = pixel_image_convert(&img, VIDEO_PIX_FMT_YUYV);
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zassert_ok(ret);
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ret = pixel_image_convert(&img, VIDEO_PIX_FMT_RGB24);
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zassert_ok(ret);
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pixel_image_to_buffer(&img, rgb24frame_out, sizeof(rgb24frame_out));
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printf("output:\n");
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pixel_image_print_truecolor(&img);
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for (int i = 0; i < sizeof(rgb24frame_out); i++) {
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/* Precision is not 100% as some conversions steps are lossy */
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zassert_within(rgb24frame_in[i], rgb24frame_out[i], ERROR_MARGIN,
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"Testing position %u", i);
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}
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}
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ZTEST_SUITE(lib_pixel_convert, NULL, NULL, NULL, NULL, NULL);

‎tests/lib/pixel/convert/testcase.yaml

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tests:
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libraries.pixel.convert:
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tags:
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- pixel
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integration_platforms:
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- qemu_cortex_m3
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- native_sim
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extra_configs:
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- CONFIG_PIXEL_PRINT_NONE=y

‎tests/lib/pixel/kernel/CMakeLists.txt

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# SPDX-License-Identifier: Apache-2.0
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cmake_minimum_required(VERSION 3.20.0)
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find_package(Zephyr REQUIRED HINTS $ENV{ZEPHYR_BASE})
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project(lib_pixel_kernel)
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FILE(GLOB app_sources src/*.c)
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target_sources(app PRIVATE ${app_sources})

‎tests/lib/pixel/kernel/prj.conf

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CONFIG_ASSERT=y
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CONFIG_PIXEL_LOG_LEVEL_DBG=y
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CONFIG_ZTEST=y
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CONFIG_PIXEL=y

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