ITS: updates for opencv 3.4.15 -> 4.5.3
Also tested python 3.9.2
Files affected:
test_sensor_fusion.py
opencv_processing_utils.py
Other changes:
merge unit test for no rotation into rotation test
bug: 196042903
Change-Id: I42bd9c791ad6ec149e172b0e6eb7e2ec76506664
diff --git a/apps/CameraITS/tests/sensor_fusion/test_sensor_fusion.py b/apps/CameraITS/tests/sensor_fusion/test_sensor_fusion.py
index 4d5a36f..0b2bbcc16 100644
--- a/apps/CameraITS/tests/sensor_fusion/test_sensor_fusion.py
+++ b/apps/CameraITS/tests/sensor_fusion/test_sensor_fusion.py
@@ -340,7 +340,7 @@
gframe0, mask=pre_mask, **_CV2_FEATURE_PARAMS_PREMASK)
num_features = len(p0_filtered)
if num_features < _FEATURE_PTS_MIN:
- for pt in p0_filtered:
+ for pt in np.rint(p0_filtered).astype(int):
x, y = pt[0][0], pt[0][1]
cv2.circle(frames[j], (x, y), 3, (100, 255, 255), -1)
image_processing_utils.write_image(
@@ -369,7 +369,7 @@
# Save debug visualization of features that are being
# tracked in the first frame.
frame = frames[j]
- for x, y in p0_filtered[st == 1]:
+ for x, y in np.rint(p0_filtered[st == 1]).astype(int):
cv2.circle(frame, (x, y), 3, (100, 255, 255), -1)
image_processing_utils.write_image(
frame, f'{file_name_stem}_features{j+_START_FRAME:03d}.png')
diff --git a/apps/CameraITS/utils/opencv_processing_utils.py b/apps/CameraITS/utils/opencv_processing_utils.py
index 69bad61..ee995c9 100644
--- a/apps/CameraITS/utils/opencv_processing_utils.py
+++ b/apps/CameraITS/utils/opencv_processing_utils.py
@@ -64,7 +64,7 @@
SCALE_TELE25_IN_RFOV_BOX = 0.33
SQUARE_AREA_MIN_REL = 0.05 # Minimum size for square relative to image area
-SQUARE_TOL = 0.1 # Square W vs H mismatch RTOL
+SQUARE_TOL = 0.05 # Square W vs H mismatch RTOL
VGA_HEIGHT = 480
VGA_WIDTH = 640
@@ -557,29 +557,17 @@
class Cv2ImageProcessingUtilsTests(unittest.TestCase):
"""Unit tests for this module."""
- def test_get_angle_identify_unrotated_chessboard_angle(self):
- normal_img_path = os.path.join(
- TEST_IMG_DIR, 'rotated_chessboards/normal.jpg')
- wide_img_path = os.path.join(
- TEST_IMG_DIR, 'rotated_chessboards/wide.jpg')
- normal_img = cv2.cvtColor(cv2.imread(normal_img_path), cv2.COLOR_BGR2GRAY)
- wide_img = cv2.cvtColor(cv2.imread(wide_img_path), cv2.COLOR_BGR2GRAY)
- normal_angle = get_angle(normal_img)
- wide_angle = get_angle(wide_img)
- e_msg = f'Angle: 0, Regular: {normal_angle}, Wide: {wide_angle}'
- self.assertEqual(get_angle(normal_img), 0, e_msg)
- self.assertEqual(get_angle(wide_img), 0, e_msg)
-
def test_get_angle_identify_rotated_chessboard_angle(self):
# Array of the image files and angles containing rotated chessboards.
test_cases = [
+ ('', 0),
('_15_ccw', 15),
('_30_ccw', 30),
('_45_ccw', 45),
('_60_ccw', 60),
('_75_ccw', 75),
- ('_90_ccw', 90)
]
+ test_fails = ''
# For each rotated image pair (normal, wide), check angle against expected.
for suffix, angle in test_cases:
@@ -594,13 +582,20 @@
wide_img = cv2.cvtColor(cv2.imread(wide_img_path), cv2.COLOR_BGR2GRAY)
# Assert angle as expected.
- normal_angle = get_angle(normal_img)
- wide_angle = get_angle(wide_img)
- e_msg = f'Angle: {angle}, Regular: {normal_angle}, Wide: {wide_angle}'
- self.assertTrue(
- numpy.isclose(abs(normal_angle), angle, ANGLE_CHECK_TOL), e_msg)
- self.assertTrue(
- numpy.isclose(abs(wide_angle), angle, ANGLE_CHECK_TOL), e_msg)
+ normal = get_angle(normal_img)
+ wide = get_angle(wide_img)
+ e_msg = (f'\n Rotation angle test failed: {angle}, extracted normal: '
+ f'{normal:.2f}, wide: {wide:.2f}')
+ if cv2.__version__ == '3.4.2':
+ if (not math.isclose(abs(normal), angle, abs_tol=ANGLE_CHECK_TOL) or
+ not math.isclose(abs(wide), angle, abs_tol=ANGLE_CHECK_TOL)):
+ test_fails += e_msg
+ else:
+ if (not math.isclose(90-normal, angle, abs_tol=ANGLE_CHECK_TOL) or
+ not math.isclose(90-wide, angle, abs_tol=ANGLE_CHECK_TOL)):
+ test_fails += e_msg
+
+ self.assertEqual(len(test_fails), 0, test_fails)
if __name__ == '__main__':
