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108 lines
3.6 KiB
C++
108 lines
3.6 KiB
C++
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#include <cameracalibration.h>
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#include <fieldcalibration.h>
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#include <string>
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#include <gtest/gtest.h>
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#include <wpi/json.h>
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const std::string projectRootPath = PROJECT_ROOT_PATH;
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const std::string calSavePath =
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projectRootPath.substr(0, projectRootPath.find("/src/main/native/assets")) +
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"/build";
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cameracalibration::CameraModel cameraModel = {
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.intrinsic_matrix = Eigen::Matrix<double, 3, 3>::Identity(),
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.distortion_coefficients = Eigen::Matrix<double, 8, 1>::Zero(),
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.avg_reprojection_error = 0.0};
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wpi::json output_json;
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#ifdef __linux__
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const std::string fileSuffix = ".avi";
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const std::string videoLocation = "/altfieldvideo";
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#else
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const std::string fileSuffix = ".mp4";
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const std::string videoLocation = "/fieldvideo";
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#endif
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TEST(Camera_CalibrationTest, OpenCV_Typical) {
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int ret = cameracalibration::calibrate(
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projectRootPath + "/testcalibration" + fileSuffix, cameraModel, 0.709f,
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0.551f, 12, 8, false);
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cameracalibration::dumpJson(cameraModel,
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calSavePath + "/cameracalibration.json");
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EXPECT_EQ(ret, 0);
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}
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TEST(Camera_CalibrationTest, OpenCV_Atypical) {
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int ret = cameracalibration::calibrate(
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projectRootPath + videoLocation + "/long" + fileSuffix, cameraModel,
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0.709f, 0.551f, 12, 8, false);
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EXPECT_EQ(ret, 1);
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}
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TEST(Camera_CalibrationTest, MRcal_Typical) {
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int ret = cameracalibration::calibrate(
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projectRootPath + "/testcalibration" + fileSuffix, cameraModel, .709f, 12,
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8, 1080, 1920, false);
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EXPECT_EQ(ret, 0);
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}
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TEST(Camera_CalibrationTest, MRcal_Atypical) {
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int ret = cameracalibration::calibrate(
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projectRootPath + videoLocation + "/short" + fileSuffix, cameraModel,
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0.709f, 12, 8, 1080, 1920, false);
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EXPECT_EQ(ret, 1);
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}
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TEST(Field_CalibrationTest, Typical) {
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int ret = fieldcalibration::calibrate(
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projectRootPath + videoLocation, output_json,
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calSavePath + "/cameracalibration.json",
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projectRootPath + "/2024-crescendo.json", 3, false);
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EXPECT_EQ(ret, 0);
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}
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TEST(Field_CalibrationTest, Atypical_Bad_Camera_Model_Directory) {
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int ret = fieldcalibration::calibrate(
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projectRootPath + videoLocation, output_json,
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projectRootPath + videoLocation + "/long" + fileSuffix,
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projectRootPath + "/2024-crescendo.json", 3, false);
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EXPECT_EQ(ret, 1);
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}
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TEST(Field_CalibrationTest, Atypical_Bad_Ideal_JSON) {
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int ret = fieldcalibration::calibrate(
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projectRootPath + videoLocation, output_json,
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calSavePath + "/cameracalibration.json",
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calSavePath + "/cameracalibration.json", 3, false);
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EXPECT_EQ(ret, 1);
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}
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TEST(Field_CalibrationTest, Atypical_Bad_Input_Directory) {
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int ret = fieldcalibration::calibrate(
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projectRootPath + "", output_json,
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calSavePath + "/cameracalibration.json",
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projectRootPath + "/2024-crescendo.json", 3, false);
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EXPECT_EQ(ret, 1);
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}
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TEST(Field_CalibrationTest, Atypical_Bad_Pinned_Tag) {
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int ret = fieldcalibration::calibrate(
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projectRootPath + videoLocation, output_json,
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calSavePath + "/cameracalibration.json",
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projectRootPath + "/2024-crescendo.json", 42, false);
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EXPECT_EQ(ret, 1);
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}
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TEST(Field_CalibrationTest, Atypical_Bad_Pinned_Tag_Negative) {
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int ret = fieldcalibration::calibrate(
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projectRootPath + videoLocation, output_json,
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calSavePath + "/cameracalibration.json",
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projectRootPath + "/2024-crescendo.json", -1, false);
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EXPECT_EQ(ret, 1);
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}
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