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Commit 7cffc831 authored by Eino-Ville Talvala's avatar Eino-Ville Talvala
Browse files

CameraService: Add unit tests for DistortionMapper 

- Make cameraserver_test test module reachable by build system
- Fix minor compilation error in CameraProviderManagerTest
- Add tests to verify:
  - Initialization of DistortionMapper
  - Transforms with an identity distortion function
  - Round-trip transform ~1e6 points with a large distortion function
  - Raw to corrected transform compared against OpenCV undistortPoints,
    using python to generate the comparison coordinate lists as a C++
    header

Test: atest cameraservice_test
Bug: 79885994
Change-Id: Iae3d6f9de2e6c79dd5cea5ca35ee5100b38441f4
parent 7b8a1fd2

services/camera/libcameraservice/Android.mk

+5 −0
Original line number Diff line number Diff line
@@ -97,3 +97,8 @@ LOCAL_CFLAGS += -Wall -Wextra -Werror 
LOCAL_MODULE:= libcameraservice



include $(BUILD_SHARED_LIBRARY)



# Build tests too



include $(LOCAL_PATH)/tests/Android.mk

services/camera/libcameraservice/device3/DistortionMapper.cpp

+1 −0
Original line number Diff line number Diff line
@@ -195,6 +195,7 @@ status_t DistortionMapper::updateCalibration(const CameraMetadata &result) { 
    }



    mValidMapping = true;

    // Need to recalculate grid

    mValidGrids = false;



    return OK;

services/camera/libcameraservice/tests/Android.mk

+1 −0
Original line number Diff line number Diff line
@@ -18,6 +18,7 @@ include $(CLEAR_VARS) 
LOCAL_SRC_FILES:= $(call all-cpp-files-under, .)



LOCAL_SHARED_LIBRARIES := \

    libbase \

    libcutils \

    libcameraservice \

    libhidlbase \

services/camera/libcameraservice/tests/CameraProviderManagerTest.cpp

+1 −0
Original line number Diff line number Diff line
@@ -190,6 +190,7 @@ struct TestStatusListener : public CameraProviderManager::StatusListener { 
            hardware::camera::common::V1_0::CameraDeviceStatus) override {}

    void onTorchStatusChanged(const String8 &,

            hardware::camera::common::V1_0::TorchModeStatus) override {}

    void onNewProviderRegistered() override {}

};



TEST(CameraProviderManagerTest, InitializeTest) {

services/camera/libcameraservice/tests/DistortionMapperComp.py

0 → 100644
+47 −0
Original line number Diff line number Diff line 
# Calculates comparison output values for DistortionMapperTest.cpp:CompareToOpenCV

#

# Assumes a python that has numpy and cv2 (OpenCV) available



import numpy as np

import cv2



Fx = 1000

Fy = 1000

Cx = 500

Cy = 500

# s = 0 - not supported by OpenCV



K = np.array([[Fx, 0, Cx],[0, Fy, Cy],[0, 0, 1]])



# Order is k1, k2, t1, t2, k3

dist = np.array([0.1, -0.003, 0.02, 0.01, 0.004])



np.random.seed(1234)



activeArray = np.array([[1000, 750]])



rawCoords = np.floor(np.random.rand(1000,2) * activeArray)



# OpenCV needs either row count or col count = 1 for some reason

rawCoords2 = rawCoords.reshape(-1, 1, 2)



# P is the output camera matrix, K is the input; use the same for both

expCoords = cv2.undistortPoints(rawCoords2, K, dist, P = K)



with open('DistortionMapperTest_OpenCvData.h','w') as f:

  f.write('// Generated by DistortionMapperComp.py\n');

  f.write('// for use by DistortionMapperTest.cpp\n\n');



  f.write('namespace openCvData {\n')

  f.write('std::array<int32_t, %d> rawCoords = {\n' % (rawCoords.shape[0] * rawCoords.shape[1]))

  for i in range(rawCoords.shape[0]):

    f.write('  %d, %d,\n' % (rawCoords[i][0], rawCoords[i][1]))

  f.write('};\n')



  f.write('std::array<int32_t, %d> expCoords = {\n' % (expCoords.shape[0] * expCoords.shape[2]))

  for i in range(expCoords.shape[0]):

    f.write('  %d, %d,\n' % (expCoords[i][0][0], expCoords[i][0][1]))

  f.write('};\n')

  f.write('} // namespace openCvData\n')



print "DistortionMapperTest_OpenCvData.h generated"