- Make cameraserver_test test module reachable by build system
- Fix minor compilation error in CameraProviderManagerTest
- Add tests to verify:
- Initialization of DistortionMapper
- Transforms with an identity distortion function
- Round-trip transform ~1e6 points with a large distortion function
- Raw to corrected transform compared against OpenCV undistortPoints,
using python to generate the comparison coordinate lists as a C++
header
Test: atest cameraservice_test
Bug: 79885994
Change-Id: Iae3d6f9de2e6c79dd5cea5ca35ee5100b38441f4
gugelfrei
Eino-Ville Talvala
6 years ago
parent
7b8a1fd27d
commit
7cffc831bc
@ -0,0 +1,47 @@
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# Calculates comparison output values for DistortionMapperTest.cpp:CompareToOpenCV
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#
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# Assumes a python that has numpy and cv2 (OpenCV) available
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import numpy as np
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import cv2
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Fx = 1000
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Fy = 1000
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Cx = 500
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Cy = 500
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# s = 0 - not supported by OpenCV
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K = np.array([[Fx, 0, Cx],[0, Fy, Cy],[0, 0, 1]])
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# Order is k1, k2, t1, t2, k3
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dist = np.array([0.1, -0.003, 0.02, 0.01, 0.004])
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np.random.seed(1234)
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activeArray = np.array([[1000, 750]])
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rawCoords = np.floor(np.random.rand(1000,2) * activeArray)
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# OpenCV needs either row count or col count = 1 for some reason
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rawCoords2 = rawCoords.reshape(-1, 1, 2)
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# P is the output camera matrix, K is the input; use the same for both
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expCoords = cv2.undistortPoints(rawCoords2, K, dist, P = K)
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with open('DistortionMapperTest_OpenCvData.h','w') as f:
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f.write('// Generated by DistortionMapperComp.py\n');
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f.write('// for use by DistortionMapperTest.cpp\n\n');
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f.write('namespace openCvData {\n')
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f.write('std::array<int32_t, %d> rawCoords = {\n' % (rawCoords.shape[0] * rawCoords.shape[1]))
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for i in range(rawCoords.shape[0]):
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f.write(' %d, %d,\n' % (rawCoords[i][0], rawCoords[i][1]))
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f.write('};\n')
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f.write('std::array<int32_t, %d> expCoords = {\n' % (expCoords.shape[0] * expCoords.shape[2]))
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for i in range(expCoords.shape[0]):
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f.write(' %d, %d,\n' % (expCoords[i][0][0], expCoords[i][0][1]))
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f.write('};\n')
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f.write('} // namespace openCvData\n')
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print "DistortionMapperTest_OpenCvData.h generated"
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@ -0,0 +1,278 @@
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/*
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* Copyright (C) 2018 The Android Open Source Project
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#define LOG_NDEBUG 0
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#define LOG_TAG "DistortionMapperTest"
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#include <random>
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#include <gtest/gtest.h>
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#include <android-base/stringprintf.h>
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#include <android-base/chrono_utils.h>
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#include "../device3/DistortionMapper.h"
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using namespace android;
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using namespace android::camera3;
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int32_t testActiveArray[] = {100, 100, 1000, 750};
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float testICal[] = { 1000.f, 1000.f, 500.f, 500.f, 0.f };
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float identityDistortion[] = { 0.f, 0.f, 0.f, 0.f, 0.f};
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std::array<int32_t, 12> basicCoords = {
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0, 0,
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testActiveArray[2] - 1, 0,
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testActiveArray[2] - 1, testActiveArray[3] - 1,
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0, testActiveArray[3] - 1,
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testActiveArray[2] / 2, testActiveArray[3] / 2,
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251, 403 // A particularly bad coordinate for current grid count/array size
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};
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void setupTestMapper(DistortionMapper *m, float distortion[5]) {
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CameraMetadata deviceInfo;
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deviceInfo.update(ANDROID_SENSOR_INFO_PRE_CORRECTION_ACTIVE_ARRAY_SIZE,
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testActiveArray, 4);
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deviceInfo.update(ANDROID_LENS_INTRINSIC_CALIBRATION,
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testICal, 5);
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deviceInfo.update(ANDROID_LENS_DISTORTION,
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distortion, 5);
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m->setupStaticInfo(deviceInfo);
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}
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TEST(DistortionMapperTest, Initialization) {
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CameraMetadata deviceInfo;
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ASSERT_FALSE(DistortionMapper::isDistortionSupported(deviceInfo));
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uint8_t distortionModes[] =
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{ANDROID_DISTORTION_CORRECTION_MODE_OFF,
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ANDROID_DISTORTION_CORRECTION_MODE_FAST,
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ANDROID_DISTORTION_CORRECTION_MODE_HIGH_QUALITY};
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deviceInfo.update(ANDROID_DISTORTION_CORRECTION_AVAILABLE_MODES,
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distortionModes, 1);
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ASSERT_FALSE(DistortionMapper::isDistortionSupported(deviceInfo));
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deviceInfo.update(ANDROID_DISTORTION_CORRECTION_AVAILABLE_MODES,
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distortionModes, 3);
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ASSERT_TRUE(DistortionMapper::isDistortionSupported(deviceInfo));
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DistortionMapper m;
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ASSERT_FALSE(m.calibrationValid());
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ASSERT_NE(m.setupStaticInfo(deviceInfo), OK);
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ASSERT_FALSE(m.calibrationValid());
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deviceInfo.update(ANDROID_SENSOR_INFO_PRE_CORRECTION_ACTIVE_ARRAY_SIZE,
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testActiveArray, 4);
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deviceInfo.update(ANDROID_LENS_INTRINSIC_CALIBRATION,
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testICal, 5);
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deviceInfo.update(ANDROID_LENS_DISTORTION,
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identityDistortion, 5);
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ASSERT_EQ(m.setupStaticInfo(deviceInfo), OK);
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ASSERT_TRUE(m.calibrationValid());
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CameraMetadata captureResult;
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ASSERT_NE(m.updateCalibration(captureResult), OK);
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captureResult.update(ANDROID_LENS_INTRINSIC_CALIBRATION,
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testICal, 5);
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captureResult.update(ANDROID_LENS_DISTORTION,
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identityDistortion, 5);
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ASSERT_EQ(m.updateCalibration(captureResult), OK);
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}
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TEST(DistortionMapperTest, IdentityTransform) {
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status_t res;
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DistortionMapper m;
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setupTestMapper(&m, identityDistortion);
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auto coords = basicCoords;
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res = m.mapCorrectedToRaw(coords.data(), 5);
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ASSERT_EQ(res, OK);
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for (size_t i = 0; i < coords.size(); i++) {
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EXPECT_EQ(coords[i], basicCoords[i]);
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}
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res = m.mapRawToCorrected(coords.data(), 5);
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ASSERT_EQ(res, OK);
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for (size_t i = 0; i < coords.size(); i++) {
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EXPECT_EQ(coords[i], basicCoords[i]);
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}
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std::array<int32_t, 8> rects = {
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0, 0, 100, 100,
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testActiveArray[2] - 100, testActiveArray[3]-100, 100, 100
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};
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auto rectsOrig = rects;
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res = m.mapCorrectedRectToRaw(rects.data(), 2);
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ASSERT_EQ(res, OK);
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for (size_t i = 0; i < rects.size(); i++) {
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EXPECT_EQ(rects[i], rectsOrig[i]);
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}
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res = m.mapRawRectToCorrected(rects.data(), 2);
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ASSERT_EQ(res, OK);
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for (size_t i = 0; i < rects.size(); i++) {
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EXPECT_EQ(rects[i], rectsOrig[i]);
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}
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}
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TEST(DistortionMapperTest, LargeTransform) {
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status_t res;
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constexpr int maxAllowedPixelError = 2; // Maximum per-pixel error allowed
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constexpr int bucketsPerPixel = 3; // Histogram granularity
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unsigned int seed = 1234; // Ensure repeatability for debugging
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const size_t coordCount = 1e6; // Number of random test points
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float bigDistortion[] = {0.1, -0.003, 0.004, 0.02, 0.01};
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DistortionMapper m;
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setupTestMapper(&m, bigDistortion);
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std::default_random_engine gen(seed);
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std::uniform_int_distribution<int> x_dist(0, testActiveArray[2] - 1);
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std::uniform_int_distribution<int> y_dist(0, testActiveArray[3] - 1);
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std::vector<int32_t> randCoords(coordCount * 2);
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for (size_t i = 0; i < randCoords.size(); i += 2) {
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randCoords[i] = x_dist(gen);
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randCoords[i + 1] = y_dist(gen);
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}
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randCoords.insert(randCoords.end(), basicCoords.begin(), basicCoords.end());
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auto origCoords = randCoords;
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base::Timer correctedToRawTimer;
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res = m.mapCorrectedToRaw(randCoords.data(), randCoords.size() / 2);
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auto correctedToRawDurationMs = correctedToRawTimer.duration();
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EXPECT_EQ(res, OK);
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base::Timer rawToCorrectedTimer;
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res = m.mapRawToCorrected(randCoords.data(), randCoords.size() / 2);
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auto rawToCorrectedDurationMs = rawToCorrectedTimer.duration();
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EXPECT_EQ(res, OK);
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float correctedToRawDurationPerCoordUs =
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(std::chrono::duration_cast<std::chrono::duration<double, std::micro>>(
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correctedToRawDurationMs) / (randCoords.size() / 2) ).count();
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float rawToCorrectedDurationPerCoordUs =
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(std::chrono::duration_cast<std::chrono::duration<double, std::micro>>(
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rawToCorrectedDurationMs) / (randCoords.size() / 2) ).count();
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RecordProperty("CorrectedToRawDurationPerCoordUs",
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base::StringPrintf("%f", correctedToRawDurationPerCoordUs));
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RecordProperty("RawToCorrectedDurationPerCoordUs",
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base::StringPrintf("%f", rawToCorrectedDurationPerCoordUs));
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// Calculate mapping errors after round trip
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float totalErrorSq = 0;
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// Basic histogram; buckets go from [N to N+1)
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std::array<int, maxAllowedPixelError * bucketsPerPixel> histogram = {0};
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int outOfHistogram = 0;
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for (size_t i = 0; i < randCoords.size(); i += 2) {
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int xOrig = origCoords[i];
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int yOrig = origCoords[i + 1];
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int xMapped = randCoords[i];
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int yMapped = randCoords[i + 1];
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float errorSq = (xMapped - xOrig) * (xMapped - xOrig) +
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(yMapped - yOrig) * (yMapped - yOrig);
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EXPECT_LE(errorSq, maxAllowedPixelError * maxAllowedPixelError) << "( " <<
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xOrig << "," << yOrig << ") -> (" << xMapped << "," << yMapped << ")";
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// Note: Integer coordinates, so histogram will be clumpy; error distances can only be of
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// form sqrt(X^2+Y^2) where X, Y are integers, so:
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// 0, 1, sqrt(2), 2, sqrt(5), sqrt(8), 3, sqrt(10), sqrt(13), 4 ...
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totalErrorSq += errorSq;
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float errorDist = std::sqrt(errorSq);
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if (errorDist < maxAllowedPixelError) {
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int histBucket = static_cast<int>(errorDist * bucketsPerPixel); // rounds down
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histogram[histBucket]++;
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} else {
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outOfHistogram++;
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}
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}
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float rmsError = std::sqrt(totalErrorSq / randCoords.size());
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RecordProperty("RmsError", base::StringPrintf("%f", rmsError));
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for (size_t i = 0; i < histogram.size(); i++) {
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std::string label = base::StringPrintf("HistogramBin[%f,%f)",
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(float)i/bucketsPerPixel, (float)(i + 1)/bucketsPerPixel);
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RecordProperty(label, histogram[i]);
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}
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RecordProperty("HistogramOutOfRange", outOfHistogram);
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}
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// Compare against values calculated by OpenCV
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// undistortPoints() method, which is the same as mapRawToCorrected
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// See script DistortionMapperComp.py
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#include "DistortionMapperTest_OpenCvData.h"
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TEST(DistortionMapperTest, CompareToOpenCV) {
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status_t res;
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float bigDistortion[] = {0.1, -0.003, 0.004, 0.02, 0.01};
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// Expect to match within sqrt(2) radius pixels
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const int32_t maxSqError = 2;
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DistortionMapper m;
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setupTestMapper(&m, bigDistortion);
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using namespace openCvData;
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res = m.mapRawToCorrected(rawCoords.data(), rawCoords.size() / 2);
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for (size_t i = 0; i < rawCoords.size(); i+=2) {
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int32_t dist = (rawCoords[i] - expCoords[i]) * (rawCoords[i] - expCoords[i]) +
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(rawCoords[i + 1] - expCoords[i + 1]) * (rawCoords[i + 1] - expCoords[i + 1]);
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EXPECT_LE(dist, maxSqError)
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<< "(" << rawCoords[i] << ", " << rawCoords[i + 1] << ") != ("
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<< expCoords[i] << ", " << expCoords[i + 1] << ")";
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}
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}
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File diff suppressed because it is too large
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