| # Copyright 2016 The Android Open Source Project |
| # |
| # Licensed under the Apache License, Version 2.0 (the 'License'); |
| # you may not use this file except in compliance with the License. |
| # You may obtain a copy of the License at |
| # |
| # http://www.apache.org/licenses/LICENSE-2.0 |
| # |
| # Unless required by applicable law or agreed to in writing, software |
| # distributed under the License is distributed on an 'AS IS' BASIS, |
| # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. |
| # See the License for the specific language governing permissions and |
| # limitations under the License. |
| |
| import os |
| |
| import its.caps |
| import its.cv2image |
| import its.device |
| import its.image |
| import its.objects |
| import numpy as np |
| |
| NUM_TRYS = 2 |
| NUM_STEPS = 6 |
| SHARPNESS_TOL = 10 # percentage |
| POSITION_TOL = 10 # percentage |
| FRAME_TIME_TOL = 10 # ms |
| VGA_WIDTH = 640 |
| VGA_HEIGHT = 480 |
| NAME = os.path.basename(__file__).split('.')[0] |
| CHART_FILE = os.path.join(os.environ['CAMERA_ITS_TOP'], 'pymodules', 'its', |
| 'test_images', 'ISO12233.png') |
| CHART_HEIGHT = 13.5 # cm |
| CHART_DISTANCE = 30.0 # cm |
| CHART_SCALE_START = 0.65 |
| CHART_SCALE_STOP = 1.35 |
| CHART_SCALE_STEP = 0.025 |
| |
| |
| def test_lens_position(cam, props, fmt, sensitivity, exp, af_fd): |
| """Return fd, sharpness, lens state of the output images. |
| |
| Args: |
| cam: An open device session. |
| props: Properties of cam |
| fmt: dict; capture format |
| sensitivity: Sensitivity for the 3A request as defined in |
| android.sensor.sensitivity |
| exp: Exposure time for the 3A request as defined in |
| android.sensor.exposureTime |
| af_fd: Focus distance for the 3A request as defined in |
| android.lens.focusDistance |
| |
| Returns: |
| Dictionary of results for different focal distance captures |
| with static lens positions and moving lens positions |
| d_static, d_moving |
| """ |
| |
| # initialize chart class |
| chart = its.cv2image.Chart(CHART_FILE, CHART_HEIGHT, CHART_DISTANCE, |
| CHART_SCALE_START, CHART_SCALE_STOP, |
| CHART_SCALE_STEP) |
| |
| # find chart location |
| xnorm, ynorm, wnorm, hnorm = chart.locate(cam, props, fmt, sensitivity, |
| exp, af_fd) |
| |
| # initialize variables and take data sets |
| data_static = {} |
| data_moving = {} |
| white_level = int(props['android.sensor.info.whiteLevel']) |
| min_fd = props['android.lens.info.minimumFocusDistance'] |
| hyperfocal = props['android.lens.info.hyperfocalDistance'] |
| fds_f = np.arange(hyperfocal, min_fd, (min_fd-hyperfocal)/(NUM_STEPS-1)) |
| fds_f = np.append(fds_f, min_fd) |
| fds_f = fds_f.tolist() |
| fds_b = list(reversed(fds_f)) |
| fds_fb = list(fds_f) |
| fds_fb.extend(fds_b) # forward and back |
| # take static data set |
| for i, fd in enumerate(fds_fb): |
| req = its.objects.manual_capture_request(sensitivity, exp) |
| req['android.lens.focusDistance'] = fd |
| cap = its.image.stationary_lens_cap(cam, req, fmt) |
| data = {'fd': fds_fb[i]} |
| data['loc'] = cap['metadata']['android.lens.focusDistance'] |
| print ' focus distance (diopters): %.3f' % data['fd'] |
| print ' current lens location (diopters): %.3f' % data['loc'] |
| y, _, _ = its.image.convert_capture_to_planes(cap, props) |
| chart = its.image.normalize_img(its.image.get_image_patch(y, |
| xnorm, ynorm, |
| wnorm, hnorm)) |
| its.image.write_image(chart, '%s_stat_i=%d_chart.jpg' % (NAME, i)) |
| data['sharpness'] = white_level*its.image.compute_image_sharpness(chart) |
| print 'Chart sharpness: %.1f\n' % data['sharpness'] |
| data_static[i] = data |
| # take moving data set |
| reqs = [] |
| for i, fd in enumerate(fds_f): |
| reqs.append(its.objects.manual_capture_request(sensitivity, exp)) |
| reqs[i]['android.lens.focusDistance'] = fd |
| caps = cam.do_capture(reqs, fmt) |
| for i, cap in enumerate(caps): |
| data = {'fd': fds_f[i]} |
| data['loc'] = cap['metadata']['android.lens.focusDistance'] |
| data['lens_moving'] = (cap['metadata']['android.lens.state'] |
| == 1) |
| timestamp = cap['metadata']['android.sensor.timestamp'] * 1E-6 |
| if i == 0: |
| timestamp_init = timestamp |
| timestamp -= timestamp_init |
| data['timestamp'] = timestamp |
| print ' focus distance (diopters): %.3f' % data['fd'] |
| print ' current lens location (diopters): %.3f' % data['loc'] |
| y, _, _ = its.image.convert_capture_to_planes(cap, props) |
| y = its.image.flip_mirror_img_per_argv(y) |
| chart = its.image.normalize_img(its.image.get_image_patch(y, |
| xnorm, ynorm, |
| wnorm, hnorm)) |
| its.image.write_image(chart, '%s_move_i=%d_chart.jpg' % (NAME, i)) |
| data['sharpness'] = white_level*its.image.compute_image_sharpness(chart) |
| print 'Chart sharpness: %.1f\n' % data['sharpness'] |
| data_moving[i] = data |
| return data_static, data_moving |
| |
| |
| def main(): |
| """Test if focus position is properly reported for moving lenses.""" |
| |
| print '\nStarting test_lens_position.py' |
| with its.device.ItsSession() as cam: |
| props = cam.get_camera_properties() |
| its.caps.skip_unless(not its.caps.fixed_focus(props)) |
| its.caps.skip_unless(its.caps.lens_calibrated(props)) |
| fmt = {'format': 'yuv', 'width': VGA_WIDTH, 'height': VGA_HEIGHT} |
| |
| # Get proper sensitivity, exposure time, and focus distance with 3A. |
| s, e, _, _, fd = cam.do_3a(get_results=True) |
| |
| # Get sharpness for each focal distance |
| d_stat, d_move = test_lens_position(cam, props, fmt, s, e, fd) |
| print 'Lens stationary' |
| for k in sorted(d_stat): |
| print ('i: %d\tfd: %.3f\tlens location (diopters): %.3f \t' |
| 'sharpness: %.1f' % (k, d_stat[k]['fd'], |
| d_stat[k]['loc'], |
| d_stat[k]['sharpness'])) |
| print 'Lens moving' |
| for k in sorted(d_move): |
| print ('i: %d\tfd: %.3f\tlens location (diopters): %.3f \t' |
| 'sharpness: %.1f \tlens_moving: %r \t' |
| 'timestamp: %.1fms' % (k, d_move[k]['fd'], |
| d_move[k]['loc'], |
| d_move[k]['sharpness'], |
| d_move[k]['lens_moving'], |
| d_move[k]['timestamp'])) |
| |
| # assert static reported location/sharpness is close |
| print 'Asserting static lens locations/sharpness are similar' |
| for i in range(len(d_stat)/2): |
| j = 2 * NUM_STEPS - 1 - i |
| print (' lens position: %.3f' |
| % d_stat[i]['fd']) |
| assert np.isclose(d_stat[i]['loc'], d_stat[i]['fd'], |
| rtol=POSITION_TOL/100.0) |
| assert np.isclose(d_stat[i]['loc'], d_stat[j]['loc'], |
| rtol=POSITION_TOL/100.0) |
| assert np.isclose(d_stat[i]['sharpness'], d_stat[j]['sharpness'], |
| rtol=SHARPNESS_TOL/100.0) |
| # assert moving frames approximately consecutive with even distribution |
| print 'Asserting moving frames are consecutive' |
| times = [v['timestamp'] for v in d_move.itervalues()] |
| diffs = np.gradient(times) |
| assert np.isclose(np.amin(diffs), np.amax(diffs), atol=FRAME_TIME_TOL) |
| # assert reported location/sharpness is correct in moving frames |
| print 'Asserting moving lens locations/sharpness are similar' |
| for i in range(len(d_move)): |
| print ' lens position: %.3f' % d_stat[i]['fd'] |
| assert np.isclose(d_stat[i]['loc'], d_move[i]['loc'], |
| rtol=POSITION_TOL) |
| if d_move[i]['lens_moving'] and i > 0: |
| if d_stat[i]['sharpness'] > d_stat[i-1]['sharpness']: |
| assert (d_stat[i]['sharpness']*(1.0+SHARPNESS_TOL) > |
| d_move[i]['sharpness'] > |
| d_stat[i-1]['sharpness']*(1.0-SHARPNESS_TOL)) |
| else: |
| assert (d_stat[i-1]['sharpness']*(1.0+SHARPNESS_TOL) > |
| d_move[i]['sharpness'] > |
| d_stat[i]['sharpness']*(1.0-SHARPNESS_TOL)) |
| elif not d_move[i]['lens_moving']: |
| assert np.isclose(d_stat[i]['sharpness'], |
| d_move[i]['sharpness'], rtol=SHARPNESS_TOL) |
| else: |
| raise its.error.Error('Lens is moving at frame 0!') |
| |
| if __name__ == '__main__': |
| main() |
| |
