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|
/************************************************************************
*
* Copyright (C) 2014-2024 IRCAD France
* Copyright (C) 2014-2020 IHU Strasbourg
*
* This file is part of Sight.
*
* Sight is free software: you can redistribute it and/or modify it under
* the terms of the GNU Lesser General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* Sight is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU Lesser General Public License for more details.
*
* You should have received a copy of the GNU Lesser General Public
* License along with Sight. If not, see <https://www.gnu.org/licenses/>.
*
***********************************************************************/
#include "camera_test.hpp"
#include <core/tools/random/generator.hpp>
#include <data/camera.hpp>
// Registers the fixture into the 'registry'
CPPUNIT_TEST_SUITE_REGISTRATION(sight::data::ut::camera_test);
namespace sight::data::ut
{
using core::tools::random::safe_rand;
//------------------------------------------------------------------------------
void camera_test::setUp()
{
}
//------------------------------------------------------------------------------
void camera_test::tearDown()
{
}
//------------------------------------------------------------------------------
data::camera::sptr init_camera()
{
const double cx = safe_rand() % 10000 / 100.;
const double cy = safe_rand() % 10000 / 100.;
const double fx = safe_rand() % 10000 / 100.;
const double fy = safe_rand() % 10000 / 100.;
const double skew = safe_rand() % 10000 / 100.;
const double k1 = safe_rand() % 10000 / 100.;
const double k2 = safe_rand() % 10000 / 100.;
const double p1 = safe_rand() % 10000 / 100.;
const double p2 = safe_rand() % 10000 / 100.;
const double k3 = safe_rand() % 10000 / 100.;
const bool is_calibrated = true;
const std::string desc = "My camera";
const std::string cam_id = "CAM_461384568";
const std::size_t width = 800;
const std::size_t height = 800;
const data::camera::source_t camerasource = data::camera::device;
const float maximumframerate = 30.F;
const enum data::camera::pixel_format_t pixelformat = data::camera::rgba32;
const std::string videofile = "/tmp/video.mp4";
const std::string streamurl = "rtsp://192.168.0.1/h264.sdp";
const double scale = 0.9996;
const double error = 0.023;
data::camera::sptr camera = std::make_shared<data::camera>();
camera->set_cx(cx);
camera->set_cy(cy);
camera->set_fx(fx);
camera->set_fy(fy);
camera->set_skew(skew);
camera->set_distortion_coefficient(k1, k2, p1, p2, k3);
camera->set_is_calibrated(is_calibrated);
camera->set_description(desc);
camera->set_camera_id(cam_id);
camera->set_width(width);
camera->set_height(height);
camera->set_camera_source(camerasource);
camera->set_maximum_frame_rate(maximumframerate);
camera->set_pixel_format(pixelformat);
camera->set_video_file(videofile);
camera->set_stream_url(streamurl);
camera->set_scale(scale);
camera->set_calibration_error(error);
return camera;
}
//------------------------------------------------------------------------------
void camera_test::param_test()
{
const double cx = safe_rand() % 10000 / 100.;
const double cy = safe_rand() % 10000 / 100.;
const double fx = safe_rand() % 10000 / 100.;
const double fy = safe_rand() % 10000 / 100.;
const double skew = safe_rand() % 10000 / 100.;
const double k1 = safe_rand() % 10000 / 100.;
const double k2 = safe_rand() % 10000 / 100.;
const double p1 = safe_rand() % 10000 / 100.;
const double p2 = safe_rand() % 10000 / 100.;
const double k3 = safe_rand() % 10000 / 100.;
const bool is_calibrated = true;
const std::string desc = "My camera";
const std::string cam_id = "CAM_461384568";
const std::size_t width = 800;
const std::size_t height = 800;
const data::camera::source_t camerasource = data::camera::device;
const float maximumframerate = 30.F;
const enum data::camera::pixel_format_t pixelformat = data::camera::rgba32;
const std::string videofile = "/tmp/video.mp4";
const std::string streamurl = "rtsp://192.168.0.1/h264.sdp";
const double scale = 0.9796;
const double error = 0.123;
data::camera::sptr camera = std::make_shared<data::camera>();
camera->set_cx(cx);
camera->set_cy(cy);
camera->set_fx(fx);
camera->set_fy(fy);
camera->set_skew(skew);
camera->set_distortion_coefficient(k1, k2, p1, p2, k3);
camera->set_is_calibrated(is_calibrated);
camera->set_description(desc);
camera->set_camera_id(cam_id);
camera->set_width(width);
camera->set_height(height);
camera->set_camera_source(camerasource);
camera->set_maximum_frame_rate(maximumframerate);
camera->set_pixel_format(pixelformat);
camera->set_video_file(videofile);
camera->set_stream_url(streamurl);
camera->set_scale(scale);
camera->set_calibration_error(error);
CPPUNIT_ASSERT_EQUAL(cx, camera->get_cx());
CPPUNIT_ASSERT_EQUAL(cy, camera->get_cy());
CPPUNIT_ASSERT_EQUAL(fx, camera->get_fx());
CPPUNIT_ASSERT_EQUAL(fy, camera->get_fy());
CPPUNIT_ASSERT_EQUAL(skew, camera->get_skew());
data::camera::dist_array_t dist = camera->get_distortion_coefficient();
CPPUNIT_ASSERT_EQUAL(k1, dist[0]);
CPPUNIT_ASSERT_EQUAL(k2, dist[1]);
CPPUNIT_ASSERT_EQUAL(p1, dist[2]);
CPPUNIT_ASSERT_EQUAL(p2, dist[3]);
CPPUNIT_ASSERT_EQUAL(k3, dist[4]);
CPPUNIT_ASSERT_EQUAL(is_calibrated, camera->get_is_calibrated());
CPPUNIT_ASSERT_EQUAL(desc, camera->get_description());
CPPUNIT_ASSERT_EQUAL(cam_id, camera->get_camera_id());
CPPUNIT_ASSERT_EQUAL(width, camera->get_width());
CPPUNIT_ASSERT_EQUAL(height, camera->get_height());
CPPUNIT_ASSERT_EQUAL(camerasource, camera->get_camera_source());
CPPUNIT_ASSERT_EQUAL(maximumframerate, camera->get_maximum_frame_rate());
CPPUNIT_ASSERT_EQUAL(pixelformat, camera->pixel_format());
CPPUNIT_ASSERT_EQUAL(videofile, camera->get_video_file().string());
CPPUNIT_ASSERT_EQUAL(streamurl, camera->get_stream_url());
CPPUNIT_ASSERT_EQUAL(scale, camera->get_scale());
CPPUNIT_ASSERT_EQUAL(error, camera->calibration_error());
}
//------------------------------------------------------------------------------
void camera_test::shallow_copy_test()
{
data::camera::sptr camera = init_camera();
data::camera::sptr camera2 = std::make_shared<data::camera>();
CPPUNIT_ASSERT(*camera != *camera2);
camera2->shallow_copy(camera);
CPPUNIT_ASSERT(*camera == *camera2);
CPPUNIT_ASSERT_EQUAL(camera->get_cx(), camera2->get_cx());
CPPUNIT_ASSERT_EQUAL(camera->get_cy(), camera2->get_cy());
CPPUNIT_ASSERT_EQUAL(camera->get_fx(), camera2->get_fx());
CPPUNIT_ASSERT_EQUAL(camera->get_fy(), camera2->get_fy());
CPPUNIT_ASSERT_EQUAL(camera->get_skew(), camera2->get_skew());
data::camera::dist_array_t dist = camera->get_distortion_coefficient();
data::camera::dist_array_t dist2 = camera2->get_distortion_coefficient();
CPPUNIT_ASSERT_EQUAL(dist[0], dist2[0]);
CPPUNIT_ASSERT_EQUAL(dist[1], dist2[1]);
CPPUNIT_ASSERT_EQUAL(dist[2], dist2[2]);
CPPUNIT_ASSERT_EQUAL(dist[3], dist2[3]);
CPPUNIT_ASSERT_EQUAL(dist[4], dist2[4]);
CPPUNIT_ASSERT_EQUAL(camera->get_is_calibrated(), camera2->get_is_calibrated());
CPPUNIT_ASSERT_EQUAL(camera->get_description(), camera2->get_description());
CPPUNIT_ASSERT_EQUAL(camera->get_camera_id(), camera2->get_camera_id());
CPPUNIT_ASSERT_EQUAL(camera->get_width(), camera2->get_width());
CPPUNIT_ASSERT_EQUAL(camera->get_height(), camera2->get_height());
CPPUNIT_ASSERT_EQUAL(camera->get_camera_source(), camera2->get_camera_source());
CPPUNIT_ASSERT_EQUAL(camera->get_maximum_frame_rate(), camera2->get_maximum_frame_rate());
CPPUNIT_ASSERT_EQUAL(camera->pixel_format(), camera2->pixel_format());
CPPUNIT_ASSERT_EQUAL(camera->get_video_file(), camera2->get_video_file());
CPPUNIT_ASSERT_EQUAL(camera->get_stream_url(), camera2->get_stream_url());
CPPUNIT_ASSERT_EQUAL(camera->get_scale(), camera2->get_scale());
CPPUNIT_ASSERT_EQUAL(camera->calibration_error(), camera2->calibration_error());
}
//------------------------------------------------------------------------------
void camera_test::deep_copy_test()
{
data::camera::sptr camera = init_camera();
data::camera::sptr camera2;
camera2 = data::object::copy(camera);
CPPUNIT_ASSERT(*camera == *camera2);
}
//------------------------------------------------------------------------------
void camera_test::equality_test()
{
auto camera1 = std::make_shared<data::camera>();
auto camera2 = std::make_shared<data::camera>();
CPPUNIT_ASSERT(*camera1 == *camera2 && !(*camera1 != *camera2));
// NOLINTNEXTLINE(cppcoreguidelines-macro-usage)
#define TEST(op) \
camera1->op; \
CPPUNIT_ASSERT_MESSAGE( \
"The cameras must be different when applying " #op " to the first", \
*camera1 != *camera2 && !(*camera1 == *camera2) \
); \
camera2->op; \
CPPUNIT_ASSERT_MESSAGE( \
"The cameras must be equal when applying " #op " to both", \
*camera1 == *camera2 && !(*camera1 != *camera2) \
);
TEST(set_cx(1));
TEST(set_cy(2));
TEST(set_fx(3));
TEST(set_fy(4));
TEST(set_skew(5));
TEST(set_distortion_coefficient(6, 7, 8, 9, 10));
TEST(set_description("11"));
TEST(set_camera_id("12"));
TEST(set_width(13));
TEST(set_height(14));
TEST(set_maximum_frame_rate(15));
TEST(set_pixel_format(data::camera::ayuv444_premultiplied));
TEST(set_video_file("17"));
TEST(set_stream_url("18"));
TEST(set_scale(19));
TEST(set_is_calibrated(true));
TEST(set_camera_source(data::camera::device));
TEST(set_calibration_error(0.569));
#undef TEST
}
//------------------------------------------------------------------------------
void camera_test::get_pixel_format_test()
{
// NOLINTNEXTLINE(cppcoreguidelines-macro-usage)
#define TEST(value) CPPUNIT_ASSERT_EQUAL(data::camera::value, camera::pixel_format(#value));
TEST(invalid);
TEST(argb32);
TEST(argb32_premultiplied);
TEST(rgb32);
TEST(rgb24);
TEST(rgb565);
TEST(rgb555);
TEST(argb8565_premultiplied);
TEST(bgra32);
TEST(bgra32_premultiplied);
TEST(bgr32);
TEST(bgr24);
TEST(bgr565);
TEST(bgr555);
TEST(bgra5658_premultiplied);
TEST(ayuv444);
TEST(ayuv444_premultiplied);
TEST(yuv444);
TEST(yuv420_p);
TEST(yv12);
TEST(uyvy);
TEST(yuyv);
TEST(nv12);
TEST(nv21);
TEST(imc1);
TEST(imc2);
TEST(imc3);
TEST(imc4);
TEST(y8);
TEST(y16);
TEST(jpeg);
TEST(cameraraw);
TEST(adobedng);
TEST(rgba32);
TEST(user);
#undef TEST
CPPUNIT_ASSERT_EQUAL(data::camera::invalid, camera::pixel_format("NOT_A_PIXELFORMAT"));
}
//------------------------------------------------------------------------------
void camera_test::get_pixel_format_name_test()
{
// NOLINTNEXTLINE(cppcoreguidelines-macro-usage)
#define TEST(value) CPPUNIT_ASSERT_EQUAL(std::string(#value), camera::get_pixel_format_name(data::camera::value));
TEST(invalid);
TEST(argb32);
TEST(argb32_premultiplied);
TEST(rgb32);
TEST(rgb24);
TEST(rgb565);
TEST(rgb555);
TEST(argb8565_premultiplied);
TEST(bgra32);
TEST(bgra32_premultiplied);
TEST(bgr32);
TEST(bgr24);
TEST(bgr565);
TEST(bgr555);
TEST(bgra5658_premultiplied);
TEST(ayuv444);
TEST(ayuv444_premultiplied);
TEST(yuv444);
TEST(yuv420_p);
TEST(yv12);
TEST(uyvy);
TEST(yuyv);
TEST(nv12);
TEST(nv21);
TEST(imc1);
TEST(imc2);
TEST(imc3);
TEST(imc4);
TEST(y8);
TEST(y16);
TEST(jpeg);
TEST(cameraraw);
TEST(adobedng);
TEST(rgba32);
TEST(user);
#undef TEST
}
} // namespace sight::data::ut
|
