diff --git a/photon-server/src/test/java/org/photonvision/vision/pipeline/Calibrate3dPipeTest.java b/photon-server/src/test/java/org/photonvision/vision/pipeline/Calibrate3dPipeTest.java index 96c4491f6..93624c58a 100644 --- a/photon-server/src/test/java/org/photonvision/vision/pipeline/Calibrate3dPipeTest.java +++ b/photon-server/src/test/java/org/photonvision/vision/pipeline/Calibrate3dPipeTest.java @@ -34,7 +34,9 @@ import org.junit.jupiter.api.Test; import org.opencv.core.Mat; import org.opencv.core.Size; import org.opencv.imgcodecs.Imgcodecs; +import org.opencv.imgproc.Imgproc; import org.photonvision.common.util.TestUtils; +import org.photonvision.vision.calibration.CameraCalibrationCoefficients; import org.photonvision.vision.frame.Frame; import org.photonvision.vision.frame.FrameStaticProperties; import org.photonvision.vision.opencv.CVMat; @@ -140,7 +142,7 @@ public class Calibrate3dPipeTest { } @Test - public void calibrateSquares320x240() { + public void calibrateSquares320x240_pi() { // Pi3 and V1.3 camera String base = TestUtils.getSquaresBoardImagesPath().toAbsolutePath().toString(); File dir = Path.of(base, "piCam", "320_240_1").toFile(); @@ -149,17 +151,7 @@ public class Calibrate3dPipeTest { } @Test - public void calibrateSquares320x240_9x7_board() { - // Gloworm Beta - String base = TestUtils.getSquaresBoardImagesPath().toAbsolutePath().toString(); - File dir = Path.of(base, "piCam", "320_240_2").toFile(); - Size sz = new Size(320, 240); - Size boardDim = new Size(9, 7); - calibrateSquaresCommon(sz, dir, boardDim); - } - - @Test - public void calibrateSquares640x480() { + public void calibrateSquares640x480_pi() { // Pi3 and V1.3 camera String base = TestUtils.getSquaresBoardImagesPath().toAbsolutePath().toString(); File dir = Path.of(base, "piCam", "640_480_1").toFile(); @@ -168,7 +160,7 @@ public class Calibrate3dPipeTest { } @Test - public void calibrateSquares960x720() { + public void calibrateSquares960x720_pi() { // Pi3 and V1.3 camera String base = TestUtils.getSquaresBoardImagesPath().toAbsolutePath().toString(); File dir = Path.of(base, "piCam", "960_720_1").toFile(); @@ -177,7 +169,7 @@ public class Calibrate3dPipeTest { } @Test - public void calibrateSquares1920x1080() { + public void calibrateSquares1920x1080_pi() { // Pi3 and V1.3 camera String base = TestUtils.getSquaresBoardImagesPath().toAbsolutePath().toString(); File dir = Path.of(base, "piCam", "1920_1080_1").toFile(); @@ -185,16 +177,71 @@ public class Calibrate3dPipeTest { calibrateSquaresCommon(sz, dir); } + @Test + public void calibrateSquares320x240_gloworm() { + // Gloworm Beta + String base = TestUtils.getSquaresBoardImagesPath().toAbsolutePath().toString(); + File dir = Path.of(base, "gloworm", "320_240_1").toFile(); + Size sz = new Size(320, 240); + Size boardDim = new Size(9, 7); + calibrateSquaresCommon(sz, dir, boardDim); + } + + @Test + public void calibrateSquares_960_720_gloworm() { + // Gloworm Beta + String base = TestUtils.getSquaresBoardImagesPath().toAbsolutePath().toString(); + File dir = Path.of(base, "gloworm", "960_720_1").toFile(); + Size sz = new Size(960, 720); + Size boardDim = new Size(9, 7); + calibrateSquaresCommon(sz, dir, boardDim); + } + + @Test + public void calibrateSquares_1280_720_gloworm() { + // Gloworm Beta + // This image set will return a fairly offset Y-pixel for the optical center point + String base = TestUtils.getSquaresBoardImagesPath().toAbsolutePath().toString(); + File dir = Path.of(base, "gloworm", "1280_720_1").toFile(); + Size sz = new Size(1280, 720); + Size boardDim = new Size(9, 7); + calibrateSquaresCommon(sz, dir, boardDim, 640, 192); + } + + @Test + public void calibrateSquares_1920_1080_gloworm() { + // Gloworm Beta + // This image set has most samples on the right, and is expected to return a slightly + // wonky calibration. + String base = TestUtils.getSquaresBoardImagesPath().toAbsolutePath().toString(); + File dir = Path.of(base, "gloworm", "1920_1080_1").toFile(); + Size sz = new Size(1920, 1080); + Size boardDim = new Size(9, 7); + calibrateSquaresCommon(sz, dir, boardDim, 1311, 540); + } + public void calibrateSquaresCommon(Size imgRes, File rootFolder) { - calibrateSquaresCommon(imgRes, rootFolder, new Size(8, 8), Units.inchesToMeters(1)); + calibrateSquaresCommon(imgRes, rootFolder, new Size(8, 8)); } public void calibrateSquaresCommon(Size imgRes, File rootFolder, Size boardDim) { - calibrateSquaresCommon(imgRes, rootFolder, boardDim, Units.inchesToMeters(1)); + calibrateSquaresCommon( + imgRes, rootFolder, boardDim, Units.inchesToMeters(1), imgRes.width / 2, imgRes.height / 2); } public void calibrateSquaresCommon( - Size imgRes, File rootFolder, Size boardDim, double boardGridSize_m) { + Size imgRes, File rootFolder, Size boardDim, double expectedXCenter, double expectedYCenter) { + calibrateSquaresCommon( + imgRes, rootFolder, boardDim, Units.inchesToMeters(1), expectedXCenter, expectedYCenter); + } + + public void calibrateSquaresCommon( + Size imgRes, + File rootFolder, + Size boardDim, + double boardGridSize_m, + double expectedXCenter, + double expectedYCenter) { int startMatCount = CVMat.getMatCount(); @@ -232,20 +279,7 @@ public class Calibrate3dPipeTest { var cal = calibration3dPipeline.tryCalibration(); calibration3dPipeline.finishCalibration(); - // for (var file : directoryListing) { - // if (file.isFile()) { - // Mat raw = Imgcodecs.imread(file.getAbsolutePath()); - // Mat undistorted = new Mat(new Size(imgRes.width * 2, imgRes.height * 2), raw.type()); - // Imgproc.undistort( - // raw, undistorted, cal.cameraIntrinsics.getAsMat(), - // cal.cameraExtrinsics.getAsMat()); - // - // TestUtils.showImage(undistorted, "undistorted " + file.getName(), 1); //apparently - // flakey in CI? - // raw.release(); - // undistorted.release(); - // } - // } + // visuallyDebugDistortion(directoryListing, imgRes, cal ); // Confirm we have indeed gotten valid calibration objects assertNotNull(cal); @@ -255,9 +289,9 @@ public class Calibrate3dPipeTest { // center of the sensor. // For all our data samples so far, this should be true. double centerXErrPct = - Math.abs(cal.cameraIntrinsics.data[2] - imgRes.width / 2) / (imgRes.width / 2) * 100.0; + Math.abs(cal.cameraIntrinsics.data[2] - expectedXCenter) / (expectedXCenter) * 100.0; double centerYErrPct = - Math.abs(cal.cameraIntrinsics.data[5] - imgRes.height / 2) / (imgRes.height / 2) * 100.0; + Math.abs(cal.cameraIntrinsics.data[5] - expectedYCenter) / (expectedYCenter) * 100.0; assertTrue(centerXErrPct < 10.0); assertTrue(centerYErrPct < 10.0); @@ -271,4 +305,30 @@ public class Calibrate3dPipeTest { // Confirm we didn't get leaky on our mat usage assertTrue(CVMat.getMatCount() == startMatCount); } + + /** + * Uses a given camera coefficents matrix set to "undistort" every image file found in a given + * directory and display them. Provides an easy way to visually debug the results of the + * calibration routine. Seems to play havoc with CI and takes a chunk of time, so shouldn't + * usually be left active in tests. + * + * @param directoryListing + * @param imgRes + * @param cal + */ + @SuppressWarnings("unused") + private void visuallyDebugDistortion( + File[] directoryListing, Size imgRes, CameraCalibrationCoefficients cal) { + for (var file : directoryListing) { + if (file.isFile()) { + Mat raw = Imgcodecs.imread(file.getAbsolutePath()); + Mat undistorted = new Mat(new Size(imgRes.width * 2, imgRes.height * 2), raw.type()); + Imgproc.undistort( + raw, undistorted, cal.cameraIntrinsics.getAsMat(), cal.cameraExtrinsics.getAsMat()); + TestUtils.showImage(undistorted, "undistorted " + file.getName(), 1); + raw.release(); + undistorted.release(); + } + } + } } diff --git a/photon-server/src/test/resources/calibrationSquaresImg/gloworm/1280_720_1/img1.jpg b/photon-server/src/test/resources/calibrationSquaresImg/gloworm/1280_720_1/img1.jpg new file mode 100644 index 000000000..531e3aaea Binary 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