| # Copyright 2020 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. |
| """Verify zoom ratio scales circle sizes correctly.""" |
| |
| |
| import logging |
| import math |
| import os.path |
| from mobly import test_runner |
| import numpy as np |
| |
| import cv2 |
| import its_base_test |
| import camera_properties_utils |
| import capture_request_utils |
| import image_processing_utils |
| import its_session_utils |
| import opencv_processing_utils |
| |
| CIRCLE_COLOR = 0 # [0: black, 255: white] |
| CIRCLE_AR_RTOL = 0.15 # contour width vs height (aspect ratio) |
| CIRCLISH_RTOL = 0.05 # contour area vs ideal circle area pi*((w+h)/4)**2 |
| LINE_COLOR = (255, 0, 0) # red |
| LINE_THICKNESS = 5 |
| MIN_AREA_RATIO = 0.00015 # based on 2000/(4000x3000) pixels |
| MIN_CIRCLE_PTS = 25 |
| MIN_FOCUS_DIST_TOL = 0.80 # allow charts a little closer than min |
| NAME = os.path.splitext(os.path.basename(__file__))[0] |
| NUM_STEPS = 10 |
| OFFSET_RTOL = 0.15 |
| OFFSET_RTOL_MIN_FD = 0.30 |
| RADIUS_RTOL = 0.10 |
| RADIUS_RTOL_MIN_FD = 0.15 |
| ZOOM_MAX_THRESH = 10.0 |
| ZOOM_MIN_THRESH = 2.0 |
| |
| |
| def get_test_tols_and_cap_size(cam, props, chart_distance, debug): |
| """Determine the tolerance per camera based on test rig and camera params. |
| |
| Cameras are pre-filtered to only include supportable cameras. |
| Supportable cameras are: YUV(RGB) |
| |
| Args: |
| cam: camera object |
| props: dict; physical camera properties dictionary |
| chart_distance: float; distance to chart in cm |
| debug: boolean; log additional data |
| |
| Returns: |
| dict of TOLs with camera focal length as key |
| largest common size across all cameras |
| """ |
| ids = camera_properties_utils.logical_multi_camera_physical_ids(props) |
| physical_props = {} |
| physical_ids = [] |
| for i in ids: |
| physical_props[i] = cam.get_camera_properties_by_id(i) |
| # find YUV capable physical cameras |
| if camera_properties_utils.backward_compatible(physical_props[i]): |
| physical_ids.append(i) |
| |
| # find physical camera focal lengths that work well with rig |
| chart_distance_m = abs(chart_distance)/100 # convert CM to M |
| test_tols = {} |
| test_yuv_sizes = [] |
| for i in physical_ids: |
| min_fd = physical_props[i]['android.lens.info.minimumFocusDistance'] |
| focal_l = physical_props[i]['android.lens.info.availableFocalLengths'][0] |
| logging.debug('cam[%s] min_fd: %.3f (diopters), fl: %.2f', |
| i, min_fd, focal_l) |
| yuv_sizes = capture_request_utils.get_available_output_sizes( |
| 'yuv', physical_props[i]) |
| test_yuv_sizes.append(yuv_sizes) |
| if debug: |
| logging.debug('cam[%s] yuv sizes: %s', i, str(yuv_sizes)) |
| |
| # determine if minimum focus distance is less than rig depth |
| if (math.isclose(min_fd, 0.0, rel_tol=1E-6) or # fixed focus |
| 1.0/min_fd < chart_distance_m*MIN_FOCUS_DIST_TOL): |
| test_tols[focal_l] = (RADIUS_RTOL, OFFSET_RTOL) |
| else: |
| test_tols[focal_l] = (RADIUS_RTOL_MIN_FD, OFFSET_RTOL_MIN_FD) |
| logging.debug('loosening RTOL for cam[%s]: ' |
| 'min focus distance too large.', i) |
| # find intersection of formats for max common format |
| common_sizes = list(set.intersection(*[set(list) for list in test_yuv_sizes])) |
| if debug: |
| logging.debug('common_fmt: %s', max(common_sizes)) |
| |
| return test_tols, max(common_sizes) |
| |
| |
| def distance(x, y): |
| return math.sqrt(x**2 + y**2) |
| |
| |
| def circle_cropped(circle, size): |
| """Determine if a circle is cropped by edge of img. |
| |
| Args: |
| circle: list [x, y, radius] of circle |
| size: tuple (x, y) of size of img |
| |
| Returns: |
| Boolean True if selected circle is cropped |
| """ |
| |
| cropped = False |
| circle_x, circle_y = circle[0], circle[1] |
| circle_r = circle[2] |
| x_min, x_max = circle_x - circle_r, circle_x + circle_r |
| y_min, y_max = circle_y - circle_r, circle_y + circle_r |
| if x_min < 0 or y_min < 0 or x_max > size[0] or y_max > size[1]: |
| cropped = True |
| return cropped |
| |
| |
| def find_center_circle(img, img_name, color, min_area, debug): |
| """Find the circle closest to the center of the image. |
| |
| Finds all contours in the image. Rejects those too small and not enough |
| points to qualify as a circle. The remaining contours must have center |
| point of color=color and are sorted based on distance from the center |
| of the image. The contour closest to the center of the image is returned. |
| |
| Note: hierarchy is not used as the hierarchy for black circles changes |
| as the zoom level changes. |
| |
| Args: |
| img: numpy img array with pixel values in [0,255]. |
| img_name: str file name for saved image |
| color: int 0 --> black, 255 --> white |
| min_area: int minimum area of circles to screen out |
| debug: bool to save extra data |
| |
| Returns: |
| circle: [center_x, center_y, radius] |
| """ |
| |
| # gray scale & otsu threshold to binarize the image |
| gray = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY) |
| _, img_bw = cv2.threshold( |
| np.uint8(gray), 0, 255, cv2.THRESH_BINARY + cv2.THRESH_OTSU) |
| |
| # use OpenCV to find contours (connected components) |
| contours = opencv_processing_utils.find_all_contours(255-img_bw) |
| |
| # check contours and find the best circle candidates |
| circles = [] |
| img_ctr = [gray.shape[1] // 2, gray.shape[0] // 2] |
| for contour in contours: |
| area = cv2.contourArea(contour) |
| if area > min_area and len(contour) >= MIN_CIRCLE_PTS: |
| shape = opencv_processing_utils.component_shape(contour) |
| radius = (shape['width'] + shape['height']) / 4 |
| colour = img_bw[shape['cty']][shape['ctx']] |
| circlish = round((math.pi * radius**2) / area, 4) |
| if (colour == color and |
| (1 - CIRCLISH_RTOL <= circlish <= 1 + CIRCLISH_RTOL) and |
| math.isclose(shape['width'], shape['height'], |
| rel_tol=CIRCLE_AR_RTOL)): |
| circles.append([shape['ctx'], shape['cty'], radius, circlish, area]) |
| |
| if not circles: |
| raise AssertionError('No circle was detected. Please take pictures ' |
| 'according to instructions carefully!') |
| |
| if debug: |
| logging.debug('circles [x, y, r, pi*r**2/area, area]: %s', str(circles)) |
| |
| # find circle closest to center |
| circles.sort(key=lambda x: distance(x[0] - img_ctr[0], x[1] - img_ctr[1])) |
| circle = circles[0] |
| |
| # mark image center |
| size = gray.shape |
| m_x, m_y = size[1] // 2, size[0] // 2 |
| marker_size = LINE_THICKNESS * 10 |
| cv2.drawMarker(img, (m_x, m_y), LINE_COLOR, markerType=cv2.MARKER_CROSS, |
| markerSize=marker_size, thickness=LINE_THICKNESS) |
| |
| # add circle to saved image |
| center_i = (int(round(circle[0], 0)), int(round(circle[1], 0))) |
| radius_i = int(round(circle[2], 0)) |
| cv2.circle(img, center_i, radius_i, LINE_COLOR, LINE_THICKNESS) |
| image_processing_utils.write_image(img / 255.0, img_name) |
| |
| return [circle[0], circle[1], circle[2]] |
| |
| |
| class ZoomTest(its_base_test.ItsBaseTest): |
| """Test the camera zoom behavior. |
| """ |
| |
| def test_zoom(self): |
| test_data = {} |
| with its_session_utils.ItsSession( |
| device_id=self.dut.serial, |
| camera_id=self.camera_id, |
| hidden_physical_id=self.hidden_physical_id) as cam: |
| props = cam.get_camera_properties() |
| props = cam.override_with_hidden_physical_camera_props(props) |
| camera_properties_utils.skip_unless( |
| camera_properties_utils.zoom_ratio_range(props)) |
| |
| # Load chart for scene |
| its_session_utils.load_scene( |
| cam, props, self.scene, self.tablet, self.chart_distance) |
| |
| z_range = props['android.control.zoomRatioRange'] |
| logging.debug('testing zoomRatioRange: %s', str(z_range)) |
| debug = self.debug_mode |
| |
| z_min, z_max = float(z_range[0]), float(z_range[1]) |
| camera_properties_utils.skip_unless(z_max >= z_min * ZOOM_MIN_THRESH) |
| z_list = np.arange(z_min, z_max, float(z_max - z_min) / (NUM_STEPS - 1)) |
| z_list = np.append(z_list, z_max) |
| |
| # set TOLs based on camera and test rig params |
| if camera_properties_utils.logical_multi_camera(props): |
| test_tols, size = get_test_tols_and_cap_size( |
| cam, props, self.chart_distance, debug) |
| else: |
| fl = props['android.lens.info.availableFocalLengths'][0] |
| test_tols = {fl: (RADIUS_RTOL, OFFSET_RTOL)} |
| yuv_size = capture_request_utils.get_largest_yuv_format(props) |
| size = [yuv_size['width'], yuv_size['height']] |
| logging.debug('capture size: %s', str(size)) |
| logging.debug('test TOLs: %s', str(test_tols)) |
| |
| # do captures over zoom range and find circles with cv2 |
| cam.do_3a() |
| req = capture_request_utils.auto_capture_request() |
| for i, z in enumerate(z_list): |
| logging.debug('zoom ratio: %.2f', z) |
| req['android.control.zoomRatio'] = z |
| cap = cam.do_capture( |
| req, {'format': 'yuv', 'width': size[0], 'height': size[1]}) |
| img = image_processing_utils.convert_capture_to_rgb_image( |
| cap, props=props) |
| img_name = '%s_%s.jpg' % (os.path.join(self.log_path, |
| NAME), round(z, 2)) |
| image_processing_utils.write_image(img, img_name) |
| |
| # determine radius tolerance of capture |
| cap_fl = cap['metadata']['android.lens.focalLength'] |
| radius_tol, offset_tol = test_tols[cap_fl] |
| |
| # convert to [0, 255] images with unsigned integer |
| img *= 255 |
| img = img.astype(np.uint8) |
| |
| # Find the center circle in img |
| try: |
| circle = find_center_circle( |
| img, img_name, CIRCLE_COLOR, |
| min_area=MIN_AREA_RATIO * size[0] * size[1] * z * z, |
| debug=debug) |
| if circle_cropped(circle, size): |
| logging.debug('zoom %.2f is too large! Skip further captures', z) |
| break |
| except AssertionError: |
| if z/z_list[0] >= ZOOM_MAX_THRESH: |
| break |
| else: |
| raise AssertionError( |
| f'No circle was detected for zoom ratio <= {ZOOM_MAX_THRESH}. ' |
| 'Please take pictures according to instructions carefully!') |
| test_data[i] = {'z': z, 'circle': circle, 'r_tol': radius_tol, |
| 'o_tol': offset_tol, 'fl': cap_fl} |
| |
| # assert some range is tested before circles get too big |
| zoom_max_thresh = ZOOM_MAX_THRESH |
| z_max_ratio = z_max / z_min |
| if z_max_ratio < ZOOM_MAX_THRESH: |
| zoom_max_thresh = z_max_ratio |
| test_data_max_z = (test_data[max(test_data.keys())]['z'] / |
| test_data[min(test_data.keys())]['z']) |
| logging.debug('test zoom ratio max: %.2f', test_data_max_z) |
| if test_data_max_z < zoom_max_thresh: |
| raise AssertionError(f'Max zoom ratio tested: {test_data_max_z:.4f}, ' |
| f'range advertised min: {z_min}, max: {z_max} ' |
| f'THRESH: {zoom_max_thresh}') |
| |
| # initialize relative size w/ zoom[0] for diff zoom ratio checks |
| radius_0 = float(test_data[0]['circle'][2]) |
| z_0 = float(test_data[0]['z']) |
| |
| for i, data in test_data.items(): |
| logging.debug('Zoom: %.2f, fl: %.2f', data['z'], data['fl']) |
| offset_abs = [(data['circle'][0] - size[0] // 2), |
| (data['circle'][1] - size[1] // 2)] |
| logging.debug('Circle r: %.1f, center offset x, y: %d, %d', |
| data['circle'][2], offset_abs[0], offset_abs[1]) |
| z_ratio = data['z'] / z_0 |
| |
| # check relative size against zoom[0] |
| radius_ratio = data['circle'][2] / radius_0 |
| logging.debug('r ratio req: %.3f, measured: %.3f', z_ratio, radius_ratio) |
| if not math.isclose(z_ratio, radius_ratio, rel_tol=data['r_tol']): |
| raise AssertionError(f'zoom: {z_ratio:.2f}, radius ratio: ' |
| f"{radius_ratio:.2f}, RTOL: {data['r_tol']}") |
| |
| # check relative offset against init vals w/ no focal length change |
| if i == 0 or test_data[i-1]['fl'] != data['fl']: # set init values |
| z_init = float(data['z']) |
| offset_init = [(data['circle'][0] - size[0] // 2), |
| (data['circle'][1] - size[1] // 2)] |
| else: # check |
| z_ratio = data['z'] / z_init |
| offset_rel = (distance(offset_abs[0], offset_abs[1]) / z_ratio / |
| distance(offset_init[0], offset_init[1])) |
| logging.debug('offset_rel: %.3f', offset_rel) |
| if not math.isclose(offset_rel, 1.0, rel_tol=data['o_tol']): |
| raise AssertionError(f"zoom: {data['z']:.2f}, offset(rel to 1): " |
| f"{offset_rel:.4f}, RTOL: {data['o_tol']}") |
| |
| if __name__ == '__main__': |
| test_runner.main() |
