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Calibration Checkerboard Corner Find Optimizations (#184)

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* WIP monkeying around with adding new targets.

* Added testcase to replicate large extrinsics result from calibration.

* Tweaked calibration pipline to return image with chessboard corner detection overlaid.

* Removed "bad" images from the cal, but that didn't seem to help...

* Added test logic to output the undistorted Mat for evaluating the quality of the calibration.

* Tweaked generation of chessboard points to be in a square pattern, not parallelogram.

* Spotless and removed bespoke test target in prep for PR.

* Revised to a double-for loop for less complex-looking logic

* #thanks spotless

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* Boop

* Updated findBoardCorners to operate on the image at a fixed, small resolution.

This means the image is scaled down before passing to openCV for processing, then the returned point cloud is scaled back up by that same factor.
Added additional flags to findBoardCorners to "fail fast".
Revised subpixel optimization parameters to use a dynamically-sized window (based on the distance observed between board corners).

* Added additional unit testing on calibration at different resolutions

* Spotless cleanup

* Add Mat release calls

* One more missing release.

Also, tried to make spotless a bit happier

* Additional formatting and WIP tracking down t he memory leak

* Cleaned up `Point` allocation in utility functions that iterate over mats of points

* Maybe fixing this bugger????

* Indeed! We can now get through the image capture stage of calibration at full resolution and save off images. Still crashing on out of memory as expected.

Added additional unit sim pass/fail criteria to catch unreleased mat's and a new set of images for testing high-res cal.

* Letting spotless do its thing

* Undistort debug seems to be acting a bit wonky in CI, so just commenting out for now

* Guard against testcases bleeding state into each other.

In particular, at least in CI, it appears not all mats are getting released in previous testcases, which borks up a hard check against "0 mats allocated" in our calibration tests.

* Removed obsolete tests

* One of these days, I will indeed learn to run spotless before I push.

But today is (still) not that day.

Today we push. FOR ROHAN!
This commit is contained in:
Chris Gerth
2020-12-20 21:06:14 -06:00
committed by GitHub
parent 2a687a1db8
commit 6856427f86
130 changed files with 217 additions and 34 deletions
Download Patch File Download Diff File Expand all files Collapse all files

105
photon-server/src/test/java/org/photonvision/vision/pipeline/Calibrate3dPipeTest.java
View File

@@ -22,6 +22,7 @@ import static org.junit.jupiter.api.Assertions.assertTrue;
import edu.wpi.first.wpilibj.geometry.Rotation2d;
import java.io.File;
import java.nio.file.Path;
import java.util.ArrayList;
import java.util.Arrays;
import java.util.List;
@@ -32,7 +33,6 @@ 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.frame.Frame;
import org.photonvision.vision.frame.FrameStaticProperties;
@@ -81,6 +81,8 @@ public class Calibrate3dPipeTest {
@Test
public void calibrationPipelineTest() {
int startMatCount = CVMat.getMatCount();
File dir = new File(TestUtils.getDotBoardImagesPath().toAbsolutePath().toString());
File[] directoryListing = dir.listFiles();
@@ -99,6 +101,7 @@ public class Calibrate3dPipeTest {
new CVMat(Imgcodecs.imread(file.getAbsolutePath())),
new FrameStaticProperties(640, 480, 60, new Rotation2d(), null)));
// TestUtils.showImage(output.outputFrame.image.getMat());
output.release();
}
assertTrue(
@@ -107,10 +110,12 @@ public class Calibrate3dPipeTest {
.allMatch(it -> it.width() > 0 && it.height() > 0));
calibration3dPipeline.removeSnapshot(0);
calibration3dPipeline.run(
new Frame(
new CVMat(Imgcodecs.imread(directoryListing[0].getAbsolutePath())),
new FrameStaticProperties(640, 480, 60, new Rotation2d(), null)));
calibration3dPipeline
.run(
new Frame(
new CVMat(Imgcodecs.imread(directoryListing[0].getAbsolutePath())),
new FrameStaticProperties(640, 480, 60, new Rotation2d(), null)))
.release();
assertTrue(
calibration3dPipeline.foundCornersList.stream()
@@ -128,17 +133,54 @@ public class Calibrate3dPipeTest {
System.out.println("Standard Deviation: " + cal.standardDeviation);
System.out.println(
"Mean: " + Arrays.stream(calibration3dPipeline.perViewErrors()).average().toString());
// Confirm we didn't get leaky on our mat usage
assertTrue(CVMat.getMatCount() == startMatCount);
}
@Test
public void calibrateSquaresTest() {
public void calibrateSquares320x240() {
String base = TestUtils.getSquaresBoardImagesPath().toAbsolutePath().toString();
File dir = Path.of(base, "piCam", "320_240_1").toFile();
Size sz = new Size(320, 240);
calibrateSquaresCommon(sz, dir);
}
File dir = new File(TestUtils.getSquaresBoardImagesPath().toAbsolutePath().toString());
File[] directoryListing = dir.listFiles();
@Test
public void calibrateSquares640x480() {
String base = TestUtils.getSquaresBoardImagesPath().toAbsolutePath().toString();
File dir = Path.of(base, "piCam", "640_480_1").toFile();
Size sz = new Size(640, 480);
calibrateSquaresCommon(sz, dir);
}
@Test
public void calibrateSquares960x720() {
String base = TestUtils.getSquaresBoardImagesPath().toAbsolutePath().toString();
File dir = Path.of(base, "piCam", "960_720_1").toFile();
Size sz = new Size(960, 720);
calibrateSquaresCommon(sz, dir);
}
@Test
public void calibrateSquares1920x1080() {
String base = TestUtils.getSquaresBoardImagesPath().toAbsolutePath().toString();
File dir = Path.of(base, "piCam", "1920_1080_1").toFile();
Size sz = new Size(1920, 1080);
calibrateSquaresCommon(sz, dir);
}
public void calibrateSquaresCommon(Size imgRes, File rootFolder) {
int startMatCount = CVMat.getMatCount();
File[] directoryListing = rootFolder.listFiles();
assertTrue(directoryListing.length >= 25);
Calibrate3dPipeline calibration3dPipeline = new Calibrate3dPipeline(20);
calibration3dPipeline.getSettings().boardType = UICalibrationData.BoardType.CHESSBOARD;
calibration3dPipeline.getSettings().resolution = new Size(320, 240);
calibration3dPipeline.getSettings().resolution = imgRes;
for (var file : directoryListing) {
if (file.isFile()) {
@@ -147,9 +189,11 @@ public class Calibrate3dPipeTest {
calibration3dPipeline.run(
new Frame(
new CVMat(Imgcodecs.imread(file.getAbsolutePath())),
new FrameStaticProperties(320, 240, 67, new Rotation2d(), null)));
new FrameStaticProperties(
(int) imgRes.width, (int) imgRes.height, 67, new Rotation2d(), null)));
// TestUtils.showImage(output.outputFrame.image.getMat(), file.getName());
// TestUtils.showImage(output.outputFrame.image.getMat(), file.getName(), 1);
output.outputFrame.release();
}
}
@@ -161,24 +205,43 @@ 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(600, 600), raw.type());
Imgproc.undistort(
raw, undistorted, cal.cameraIntrinsics.getAsMat(), cal.cameraExtrinsics.getAsMat());
TestUtils.showImage(undistorted, "undistorted " + file.getName(), 1);
}
}
// 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();
// }
// }
// Confirm we have indeed gotten valid calibration objects
assertNotNull(cal);
assertNotNull(cal.perViewErrors);
// Confirm the calibrated center pixel is fairly close to of the "expected" location at the
// 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;
double centerYErrPct =
Math.abs(cal.cameraIntrinsics.data[5] - imgRes.height / 2) / (imgRes.height / 2) * 100.0;
assertTrue(centerXErrPct < 10.0);
assertTrue(centerYErrPct < 10.0);
System.out.println("Per View Errors: " + Arrays.toString(cal.perViewErrors));
System.out.println("Camera Intrinsics : " + cal.cameraIntrinsics.toString());
System.out.println("Camera Extrinsics : " + cal.cameraExtrinsics.toString());
System.out.println("Standard Deviation: " + cal.standardDeviation);
System.out.println(
"Mean: " + Arrays.stream(calibration3dPipeline.perViewErrors()).average().toString());
// Confirm we didn't get leaky on our mat usage
assertTrue(CVMat.getMatCount() == startMatCount);
}
}