# Copyright 2024 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 ArUco marker sizes correctly for the TELE camera.""" import logging import math import os.path import camera_properties_utils import capture_request_utils import image_processing_utils import opencv_processing_utils import its_base_test import its_session_utils import cv2 from mobly import test_runner import numpy as np import zoom_capture_utils _NAME = os.path.splitext(os.path.basename(__file__))[0] _NUMBER_OF_CAMERAS_TO_TEST = 0 _NUM_STEPS_PER_SECTION = 10 # YUV only to improve marker detection, JPEG is tested in test_zoom _TEST_FORMATS = ('yuv',) # Empirically found zoom ratio for main cameras without custom offset behavior _WIDE_ZOOM_RATIO_MIN = 2.2 # Empirically found zoom ratio for TELE cameras _TELE_TRANSITION_ZOOM_RATIO = 5.0 _ZOOM_RATIO_REQUEST_RESULT_DIFF_RTOL = 0.1 class ZoomTestTELE(its_base_test.ItsBaseTest): """Test the camera zoom behavior for the TELE camera, if available.""" def test_zoom_tele(self): # Handle subdirectory self.scene = 'scene6_tele' with its_session_utils.ItsSession( device_id=self.dut.serial, camera_id=self.camera_id, # Use logical camera for captures. Physical ID only for result tracking hidden_physical_id=None) as cam: camera_properties_utils.skip_unless(self.hidden_physical_id is not None) props = cam.get_camera_properties() first_api_level = its_session_utils.get_first_api_level(self.dut.serial) physical_props = cam.get_camera_properties_by_id(self.hidden_physical_id) is_tele = cam.get_camera_type(physical_props) == ( its_session_utils.CAMERA_TYPE_TELE) logging.debug('is_tele: %s', is_tele) camera_properties_utils.skip_unless( camera_properties_utils.zoom_ratio_range(props) and is_tele) # Load chart for scene its_session_utils.load_scene( cam, props, self.scene, self.tablet, # Ensure markers are large enough by loading unscaled chart its_session_utils.CHART_DISTANCE_NO_SCALING) # Determine test zoom range z_range = props['android.control.zoomRatioRange'] 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_capture_utils.ZOOM_MIN_THRESH) z_min = max(z_min, _WIDE_ZOOM_RATIO_MIN) # Force W tele_transition_zoom_ratio = min(z_max, _TELE_TRANSITION_ZOOM_RATIO) # Increase data near transition ratio transition_z_list = np.arange( z_min, tele_transition_zoom_ratio, (tele_transition_zoom_ratio - z_min) / (_NUM_STEPS_PER_SECTION - 1) ) tele_z_list = np.array([]) if z_max > tele_transition_zoom_ratio: tele_z_list = np.arange( tele_transition_zoom_ratio, z_max, (z_max - tele_transition_zoom_ratio) / (_NUM_STEPS_PER_SECTION - 1) ) z_list = np.unique(np.concatenate((transition_z_list, tele_z_list))) z_list = np.append(z_list, z_max) logging.debug('Testing zoom range: %s', str(z_list)) # Set TOLs based on camera and test rig params if camera_properties_utils.logical_multi_camera(props): test_tols, size = zoom_capture_utils.get_test_tols_and_cap_size( cam, props, self.chart_distance, debug) else: test_tols = {} focal_lengths = props['android.lens.info.availableFocalLengths'] logging.debug('focal lengths: %s', focal_lengths) for fl in focal_lengths: test_tols[fl] = (zoom_capture_utils.RADIUS_RTOL, zoom_capture_utils.OFFSET_RTOL) yuv_size = capture_request_utils.get_largest_format('yuv', 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 ArUco markers with cv2 img_name_stem = f'{os.path.join(self.log_path, _NAME)}' req = capture_request_utils.auto_capture_request() for fmt in _TEST_FORMATS: logging.debug('testing %s format', fmt) test_data = [] all_aruco_ids = [] all_aruco_corners = [] images = [] found_markers = False for z in z_list: req['android.control.zoomRatio'] = z logging.debug('zoom ratio: %.3f', z) cam.do_3a( zoom_ratio=z, out_surfaces={ 'format': fmt, 'width': size[0], 'height': size[1] }, repeat_request=None, ) cap = cam.do_capture( req, {'format': fmt, 'width': size[0], 'height': size[1]}, reuse_session=True) cap_physical_id = ( cap['metadata']['android.logicalMultiCamera.activePhysicalId'] ) cap_zoom_ratio = float(cap['metadata']['android.control.zoomRatio']) if not math.isclose(cap_zoom_ratio, z, rel_tol=_ZOOM_RATIO_REQUEST_RESULT_DIFF_RTOL): raise AssertionError( 'Request and result zoom ratios too different! ' f'Request zoom ratio: {z}. ' f'Result zoom ratio: {cap_zoom_ratio}. ', f'RTOL: {_ZOOM_RATIO_REQUEST_RESULT_DIFF_RTOL}' ) img = image_processing_utils.convert_capture_to_rgb_image( cap, props=props) img_name = (f'{img_name_stem}_{fmt}_{z:.2f}.' f'{zoom_capture_utils.JPEG_STR}') 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.get( cap_fl, (zoom_capture_utils.RADIUS_RTOL, zoom_capture_utils.OFFSET_RTOL) ) # Find ArUco markers bgr_img = cv2.cvtColor( image_processing_utils.convert_image_to_uint8(img), cv2.COLOR_RGB2BGR ) try: corners, ids, _ = opencv_processing_utils.find_aruco_markers( bgr_img, (f'{img_name_stem}_{fmt}_{z:.2f}_' f'ArUco.{zoom_capture_utils.JPEG_STR}'), aruco_marker_count=1 ) found_markers = True except AssertionError as e: logging.debug('Could not find ArUco marker at zoom ratio %.2f: %s', z, e) if found_markers: logging.debug('No more ArUco markers found at zoom %.2f', z) break else: logging.debug('Still no ArUco markers found at zoom %.2f', z) continue all_aruco_corners.append([corner[0] for corner in corners]) all_aruco_ids.append([id[0] for id in ids]) images.append(bgr_img) test_data.append( zoom_capture_utils.ZoomTestData( result_zoom=cap_zoom_ratio, radius_tol=radius_tol, offset_tol=offset_tol, focal_length=cap_fl, physical_id=cap_physical_id, ) ) # Find ArUco markers in all captures and update test data zoom_capture_utils.update_zoom_test_data_with_shared_aruco_marker( test_data, all_aruco_ids, all_aruco_corners, size) test_artifacts_name_stem = f'{img_name_stem}_{fmt}' # Mark ArUco marker center and image center opencv_processing_utils.mark_zoom_images( images, test_data, test_artifacts_name_stem) test_success, msg = zoom_capture_utils.verify_zoom_data( test_data, size, offset_plot_name_stem=test_artifacts_name_stem, number_of_cameras_to_test=_NUMBER_OF_CAMERAS_TO_TEST) if not test_success: if first_api_level >= its_session_utils.ANDROID16_API_LEVEL: raise AssertionError(msg) else: raise AssertionError(f'{its_session_utils.NOT_YET_MANDATED_MESSAGE}' f'\n\n{msg}') if __name__ == '__main__': test_runner.main()