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[wpical] Add WPIcal: Field Calibration Tool (#6915)

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Co-authored-by: Gold856 <117957790+Gold856@users.noreply.github.com>
Co-authored-by: Jade <spacey-sooty@proton.me>
Co-authored-by: Matthew Morley <matthew.morley.ca@gmail.com>
This commit is contained in:
Elliot Scher
2024-12-28 23:24:32 -05:00
committed by GitHub
parent b74f84f876
commit 85507a6c65
86 changed files with 30195 additions and 2 deletions
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wpical/src/test/native/cpp/test_calibrate.cpp Normal file
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// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#include <cameracalibration.h>
#include <fieldcalibration.h>
#include <string>
#include <gtest/gtest.h>
#include <wpi/json.h>
const std::string projectRootPath = PROJECT_ROOT_PATH;
const std::string calSavePath =
projectRootPath.substr(0,
projectRootPath.find("/src/main/native/resources")) +
"/build";
cameracalibration::CameraModel cameraModel = {
.intrinsic_matrix = Eigen::Matrix<double, 3, 3>::Identity(),
.distortion_coefficients = Eigen::Matrix<double, 8, 1>::Zero(),
.avg_reprojection_error = 0.0};
#ifdef __linux__
const std::string fileSuffix = ".avi";
const std::string videoLocation = "/altfieldvideo";
#else
const std::string fileSuffix = ".mp4";
const std::string videoLocation = "/fieldvideo";
#endif
TEST(Camera_CalibrationTest, OpenCV_Typical) {
int ret = cameracalibration::calibrate(
projectRootPath + "/testcalibration" + fileSuffix, cameraModel, 0.709f,
0.551f, 12, 8, false);
cameracalibration::dumpJson(cameraModel,
calSavePath + "/cameracalibration.json");
EXPECT_EQ(ret, 0);
}
TEST(Camera_CalibrationTest, OpenCV_Atypical) {
int ret = cameracalibration::calibrate(
projectRootPath + videoLocation + "/long" + fileSuffix, cameraModel,
0.709f, 0.551f, 12, 8, false);
EXPECT_EQ(ret, 1);
}
TEST(Camera_CalibrationTest, MRcal_Typical) {
int ret = cameracalibration::calibrate(
projectRootPath + "/testcalibration" + fileSuffix, cameraModel, .709f, 12,
8, 1080, 1920, false);
EXPECT_EQ(ret, 0);
}
TEST(Camera_CalibrationTest, MRcal_Atypical) {
int ret = cameracalibration::calibrate(
projectRootPath + videoLocation + "/short" + fileSuffix, cameraModel,
0.709f, 12, 8, 1080, 1920, false);
EXPECT_EQ(ret, 1);
}
TEST(Field_CalibrationTest, Typical) {
int ret = fieldcalibration::calibrate(
projectRootPath + videoLocation, calSavePath,
calSavePath + "/cameracalibration.json",
projectRootPath + "/2024-crescendo.json", 3, false);
EXPECT_EQ(ret, 0);
}
TEST(Field_CalibrationTest, Atypical_Bad_Camera_Model_Directory) {
int ret = fieldcalibration::calibrate(
projectRootPath + videoLocation, calSavePath,
projectRootPath + videoLocation + "/long" + fileSuffix,
projectRootPath + "/2024-crescendo.json", 3, false);
EXPECT_EQ(ret, 1);
}
TEST(Field_CalibrationTest, Atypical_Bad_Ideal_JSON) {
int ret = fieldcalibration::calibrate(
projectRootPath + videoLocation, calSavePath,
calSavePath + "/cameracalibration.json",
calSavePath + "/cameracalibration.json", 3, false);
EXPECT_EQ(ret, 1);
}
TEST(Field_CalibrationTest, Atypical_Bad_Input_Directory) {
int ret = fieldcalibration::calibrate(
projectRootPath + "", calSavePath,
calSavePath + "/cameracalibration.json",
projectRootPath + "/2024-crescendo.json", 3, false);
EXPECT_EQ(ret, 1);
}