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Add Gloworm Images to Unit Tests for Calibration (#192)

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* Incorporated new images from gloworm beta unit from Declan into unit test suite.

* Missed one unit test case - looks like the 1280x720 image set also returns wonky center values.
This commit is contained in:
Chris Gerth
2020-12-27 12:30:32 -06:00
committed by GitHub
parent 2ca879c82d
commit 2cf725876f
106 changed files with 93 additions and 33 deletions
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126
photon-server/src/test/java/org/photonvision/vision/pipeline/Calibrate3dPipeTest.java
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@@ -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();
}
}
}
}