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2026-06-20 00:51:42 +00:00 · 2025-11-07 19:55:36 -05:00
parent 8cfc158790
commit a5492d30da
431 changed files with 0 additions and 0 deletions
--- a/tools/wpical/src/test/native/cpp/test_calibrate.cpp
+++ b/tools/wpical/src/test/native/cpp/test_calibrate.cpp
@@ -0,0 +1,116 @@
+// 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>
+
+#include "path_lookup.h"
+
+const std::string projectRootPath = PROJECT_ROOT_PATH;
+
+const char* const tmpdir_c_str = std::getenv("TEST_TMPDIR");
+
+const std::string calSavePath =
+    tmpdir_c_str == nullptr
+        ? (projectRootPath.substr(
+               0, projectRootPath.find("/src/main/native/assets")) +
+           "/build")
+        : std::string(tmpdir_c_str);
+cameracalibration::CameraModel cameraModel = {
+    .intrinsic_matrix = Eigen::Matrix<double, 3, 3>::Identity(),
+    .distortion_coefficients = Eigen::Matrix<double, 8, 1>::Zero(),
+    .avg_reprojection_error = 0.0};
+
+wpi::json output_json;
+
+#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(
+      LookupPath(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(
+      LookupPath(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(
+      LookupPath(projectRootPath + "/testcalibration" + fileSuffix),
+      cameraModel, .709f, 12, 8, 1080, 1920, false);
+  EXPECT_EQ(ret, 0);
+}
+
+TEST(Camera_CalibrationTest, MRcal_Atypical) {
+  int ret = cameracalibration::calibrate(
+      LookupPath(projectRootPath + videoLocation + "/short" + fileSuffix),
+      cameraModel, 0.709f, 12, 8, 1080, 1920, false);
+  EXPECT_EQ(ret, 1);
+}
+
+TEST(Field_CalibrationTest, Typical) {
+  int ret = fieldcalibration::calibrate(
+      LookupPath(projectRootPath + videoLocation), output_json,
+      calSavePath + "/cameracalibration.json",
+      LookupPath(projectRootPath + "/2024-crescendo.json"), 3, false);
+  EXPECT_EQ(ret, 0);
+}
+
+TEST(Field_CalibrationTest, Atypical_Bad_Camera_Model_Directory) {
+  int ret = fieldcalibration::calibrate(
+      LookupPath(projectRootPath + videoLocation), output_json,
+      LookupPath(projectRootPath + videoLocation + "/long" + fileSuffix),
+      LookupPath(projectRootPath + "/2024-crescendo.json"), 3, false);
+  EXPECT_EQ(ret, 1);
+}
+
+TEST(Field_CalibrationTest, Atypical_Bad_Ideal_JSON) {
+  int ret = fieldcalibration::calibrate(
+      LookupPath(projectRootPath + videoLocation), output_json,
+      calSavePath + "/cameracalibration.json",
+      calSavePath + "/cameracalibration.json", 3, false);
+  EXPECT_EQ(ret, 1);
+}
+
+TEST(Field_CalibrationTest, Atypical_Bad_Input_Directory) {
+  int ret = fieldcalibration::calibrate(
+      LookupPath(projectRootPath + ""), output_json,
+      calSavePath + "/cameracalibration.json",
+      LookupPath(projectRootPath + "/2024-crescendo.json"), 3, false);
+  EXPECT_EQ(ret, 1);
+}
+
+TEST(Field_CalibrationTest, Atypical_Bad_Pinned_Tag) {
+  int ret = fieldcalibration::calibrate(
+      LookupPath(projectRootPath + videoLocation), output_json,
+      calSavePath + "/cameracalibration.json",
+      LookupPath(projectRootPath + "/2024-crescendo.json"), 42, false);
+  EXPECT_EQ(ret, 1);
+}
+
+TEST(Field_CalibrationTest, Atypical_Bad_Pinned_Tag_Negative) {
+  int ret = fieldcalibration::calibrate(
+      LookupPath(projectRootPath + videoLocation), output_json,
+      calSavePath + "/cameracalibration.json",
+      LookupPath(projectRootPath + "/2024-crescendo.json"), -1, false);
+  EXPECT_EQ(ret, 1);
+}