Camera: DistortionMapper: Fix to work consistently
- Ensure the conversions between pre-correction and active array coordinates
are applied consistenly
- Only some regions were being clamped to ensure they were within the
destination region. Add more clamping, though some outputs still
need to not be clamped, such as face rectangles which may extend outside
the FOV.
- Add simple transform mode since the full transform cannot safely be used
to meet all consistency requirements in Android P
Also update the unit tests to try to check for this corner case and the
simple mode.
Test: adb shell /data/nativetest/cameraservice_tests/cameraservice_test \
--gtest_filter=*Distortion*
Bug: 109766306
Change-Id: Id6f23794d60d5ed9e04b155426741a504487e3d6
Merged-In: Id6f23794d60d5ed9e04b155426741a504487e3d6
(cherry-picked from ee080fed199e60df07c0fcef970182ba09bf4367)
(cherry picked from commit dccebf80ea7e90eedeb914becafc47ca725eb27f)
diff --git a/services/camera/libcameraservice/device3/DistortionMapper.cpp b/services/camera/libcameraservice/device3/DistortionMapper.cpp
index eef6658..4dafefd 100644
--- a/services/camera/libcameraservice/device3/DistortionMapper.cpp
+++ b/services/camera/libcameraservice/device3/DistortionMapper.cpp
@@ -49,7 +49,7 @@
};
// Only for capture result
-constexpr std::array<uint32_t, 2> DistortionMapper::kResultPointsToCorrect = {
+constexpr std::array<uint32_t, 2> DistortionMapper::kResultPointsToCorrectNoClamp = {
ANDROID_STATISTICS_FACE_RECTANGLES, // Says rectangles, is really points
ANDROID_STATISTICS_FACE_LANDMARKS,
};
@@ -79,12 +79,21 @@
array = deviceInfo.find(ANDROID_SENSOR_INFO_PRE_CORRECTION_ACTIVE_ARRAY_SIZE);
if (array.count != 4) return BAD_VALUE;
- mArrayWidth = array.data.i32[2];
- mArrayHeight = array.data.i32[3];
+ float arrayX = static_cast<float>(array.data.i32[0]);
+ float arrayY = static_cast<float>(array.data.i32[1]);
+ mArrayWidth = static_cast<float>(array.data.i32[2]);
+ mArrayHeight = static_cast<float>(array.data.i32[3]);
array = deviceInfo.find(ANDROID_SENSOR_INFO_ACTIVE_ARRAY_SIZE);
- mActiveWidth = array.data.i32[2];
- mActiveHeight = array.data.i32[3];
+ if (array.count != 4) return BAD_VALUE;
+
+ float activeX = static_cast<float>(array.data.i32[0]);
+ float activeY = static_cast<float>(array.data.i32[1]);
+ mActiveWidth = static_cast<float>(array.data.i32[2]);
+ mActiveHeight = static_cast<float>(array.data.i32[3]);
+
+ mArrayDiffX = activeX - arrayX;
+ mArrayDiffY = activeY - arrayY;
return updateCalibration(deviceInfo);
}
@@ -111,22 +120,13 @@
if (weight == 0) {
continue;
}
- res = mapCorrectedToRaw(e.data.i32 + j, 2);
+ res = mapCorrectedToRaw(e.data.i32 + j, 2, /*clamp*/true);
if (res != OK) return res;
- for (size_t k = 0; k < 4; k+=2) {
- int32_t& x = e.data.i32[j + k];
- int32_t& y = e.data.i32[j + k + 1];
- // Clamp to within active array
- x = std::max(0, x);
- x = std::min(mActiveWidth - 1, x);
- y = std::max(0, y);
- y = std::min(mActiveHeight - 1, y);
- }
}
}
for (auto rect : kRequestRectsToCorrect) {
e = request->find(rect);
- res = mapCorrectedRectToRaw(e.data.i32, e.count / 4);
+ res = mapCorrectedRectToRaw(e.data.i32, e.count / 4, /*clamp*/true);
if (res != OK) return res;
}
}
@@ -156,27 +156,18 @@
if (weight == 0) {
continue;
}
- res = mapRawToCorrected(e.data.i32 + j, 2);
+ res = mapRawToCorrected(e.data.i32 + j, 2, /*clamp*/true);
if (res != OK) return res;
- for (size_t k = 0; k < 4; k+=2) {
- int32_t& x = e.data.i32[j + k];
- int32_t& y = e.data.i32[j + k + 1];
- // Clamp to within active array
- x = std::max(0, x);
- x = std::min(mActiveWidth - 1, x);
- y = std::max(0, y);
- y = std::min(mActiveHeight - 1, y);
- }
}
}
for (auto rect : kResultRectsToCorrect) {
e = result->find(rect);
- res = mapRawRectToCorrected(e.data.i32, e.count / 4);
+ res = mapRawRectToCorrected(e.data.i32, e.count / 4, /*clamp*/true);
if (res != OK) return res;
}
- for (auto pts : kResultPointsToCorrect) {
+ for (auto pts : kResultPointsToCorrectNoClamp) {
e = result->find(pts);
- res = mapRawToCorrected(e.data.i32, e.count / 2);
+ res = mapRawToCorrected(e.data.i32, e.count / 2, /*clamp*/false);
if (res != OK) return res;
}
}
@@ -232,9 +223,12 @@
return OK;
}
-status_t DistortionMapper::mapRawToCorrected(int32_t *coordPairs, int coordCount) {
+status_t DistortionMapper::mapRawToCorrected(int32_t *coordPairs, int coordCount,
+ bool clamp, bool simple) {
if (!mValidMapping) return INVALID_OPERATION;
+ if (simple) return mapRawToCorrectedSimple(coordPairs, coordCount, clamp);
+
if (!mValidGrids) {
status_t res = buildGrids();
if (res != OK) return res;
@@ -275,6 +269,12 @@
// Interpolate along left edge of corrected quad (which are axis-aligned) for y
float corrY = corrQuad->coords[1] + v * (corrQuad->coords[7] - corrQuad->coords[1]);
+ // Clamp to within active array
+ if (clamp) {
+ corrX = std::min(mActiveWidth - 1, std::max(0.f, corrX));
+ corrY = std::min(mActiveHeight - 1, std::max(0.f, corrY));
+ }
+
coordPairs[i] = static_cast<int32_t>(std::round(corrX));
coordPairs[i + 1] = static_cast<int32_t>(std::round(corrY));
}
@@ -282,7 +282,30 @@
return OK;
}
-status_t DistortionMapper::mapRawRectToCorrected(int32_t *rects, int rectCount) {
+status_t DistortionMapper::mapRawToCorrectedSimple(int32_t *coordPairs, int coordCount,
+ bool clamp) const {
+ if (!mValidMapping) return INVALID_OPERATION;
+
+ float scaleX = mActiveWidth / mArrayWidth;
+ float scaleY = mActiveHeight / mArrayHeight;
+ for (int i = 0; i < coordCount * 2; i += 2) {
+ float x = coordPairs[i];
+ float y = coordPairs[i + 1];
+ float corrX = x * scaleX;
+ float corrY = y * scaleY;
+ if (clamp) {
+ corrX = std::min(mActiveWidth - 1, std::max(0.f, corrX));
+ corrY = std::min(mActiveHeight - 1, std::max(0.f, corrY));
+ }
+ coordPairs[i] = static_cast<int32_t>(std::round(corrX));
+ coordPairs[i + 1] = static_cast<int32_t>(std::round(corrY));
+ }
+
+ return OK;
+}
+
+status_t DistortionMapper::mapRawRectToCorrected(int32_t *rects, int rectCount, bool clamp,
+ bool simple) {
if (!mValidMapping) return INVALID_OPERATION;
for (int i = 0; i < rectCount * 4; i += 4) {
// Map from (l, t, width, height) to (l, t, r, b)
@@ -293,7 +316,7 @@
rects[i + 1] + rects[i + 3]
};
- mapRawToCorrected(coords, 2);
+ mapRawToCorrected(coords, 2, clamp, simple);
// Map back to (l, t, width, height)
rects[i] = coords[0];
@@ -305,14 +328,24 @@
return OK;
}
+status_t DistortionMapper::mapCorrectedToRaw(int32_t *coordPairs, int coordCount, bool clamp,
+ bool simple) const {
+ return mapCorrectedToRawImpl(coordPairs, coordCount, clamp, simple);
+}
+
template<typename T>
-status_t DistortionMapper::mapCorrectedToRaw(T *coordPairs, int coordCount) const {
+status_t DistortionMapper::mapCorrectedToRawImpl(T *coordPairs, int coordCount, bool clamp,
+ bool simple) const {
if (!mValidMapping) return INVALID_OPERATION;
+ if (simple) return mapCorrectedToRawImplSimple(coordPairs, coordCount, clamp);
+
+ float activeCx = mCx - mArrayDiffX;
+ float activeCy = mCy - mArrayDiffY;
for (int i = 0; i < coordCount * 2; i += 2) {
- // Move to normalized space
- float ywi = (coordPairs[i + 1] - mCy) * mInvFy;
- float xwi = (coordPairs[i] - mCx - mS * ywi) * mInvFx;
+ // Move to normalized space from active array space
+ float ywi = (coordPairs[i + 1] - activeCy) * mInvFy;
+ float xwi = (coordPairs[i] - activeCx - mS * ywi) * mInvFx;
// Apply distortion model to calculate raw image coordinates
float rSq = xwi * xwi + ywi * ywi;
float Fr = 1.f + (mK[0] * rSq) + (mK[1] * rSq * rSq) + (mK[2] * rSq * rSq * rSq);
@@ -321,6 +354,11 @@
// Move back to image space
float xr = mFx * xc + mS * yc + mCx;
float yr = mFy * yc + mCy;
+ // Clamp to within pre-correction active array
+ if (clamp) {
+ xr = std::min(mArrayWidth - 1, std::max(0.f, xr));
+ yr = std::min(mArrayHeight - 1, std::max(0.f, yr));
+ }
coordPairs[i] = static_cast<T>(std::round(xr));
coordPairs[i + 1] = static_cast<T>(std::round(yr));
@@ -329,10 +367,32 @@
return OK;
}
-template status_t DistortionMapper::mapCorrectedToRaw(int32_t*, int) const;
-template status_t DistortionMapper::mapCorrectedToRaw(float*, int) const;
+template<typename T>
+status_t DistortionMapper::mapCorrectedToRawImplSimple(T *coordPairs, int coordCount,
+ bool clamp) const {
+ if (!mValidMapping) return INVALID_OPERATION;
-status_t DistortionMapper::mapCorrectedRectToRaw(int32_t *rects, int rectCount) const {
+ float scaleX = mArrayWidth / mActiveWidth;
+ float scaleY = mArrayHeight / mActiveHeight;
+ for (int i = 0; i < coordCount * 2; i += 2) {
+ float x = coordPairs[i];
+ float y = coordPairs[i + 1];
+ float rawX = x * scaleX;
+ float rawY = y * scaleY;
+ if (clamp) {
+ rawX = std::min(mArrayWidth - 1, std::max(0.f, rawX));
+ rawY = std::min(mArrayHeight - 1, std::max(0.f, rawY));
+ }
+ coordPairs[i] = static_cast<T>(std::round(rawX));
+ coordPairs[i + 1] = static_cast<T>(std::round(rawY));
+ }
+
+ return OK;
+}
+
+
+status_t DistortionMapper::mapCorrectedRectToRaw(int32_t *rects, int rectCount, bool clamp,
+ bool simple) const {
if (!mValidMapping) return INVALID_OPERATION;
for (int i = 0; i < rectCount * 4; i += 4) {
@@ -344,7 +404,7 @@
rects[i + 1] + rects[i + 3]
};
- mapCorrectedToRaw(coords, 2);
+ mapCorrectedToRaw(coords, 2, clamp, simple);
// Map back to (l, t, width, height)
rects[i] = coords[0];
@@ -380,7 +440,8 @@
};
mDistortedGrid[index].src = &mCorrectedGrid[index];
mDistortedGrid[index].coords = mCorrectedGrid[index].coords;
- status_t res = mapCorrectedToRaw(mDistortedGrid[index].coords.data(), 4);
+ status_t res = mapCorrectedToRawImpl(mDistortedGrid[index].coords.data(), 4,
+ /*clamp*/false, /*simple*/false);
if (res != OK) return res;
}
}
diff --git a/services/camera/libcameraservice/device3/DistortionMapper.h b/services/camera/libcameraservice/device3/DistortionMapper.h
index 00cbd32..4c0a1a6 100644
--- a/services/camera/libcameraservice/device3/DistortionMapper.h
+++ b/services/camera/libcameraservice/device3/DistortionMapper.h
@@ -73,8 +73,11 @@
*
* coordPairs: A pointer to an array of consecutive (x,y) points
* coordCount: Number of (x,y) pairs to transform
+ * clamp: Whether to clamp the result to the bounds of the active array
+ * simple: Whether to do complex correction or just a simple linear map
*/
- status_t mapRawToCorrected(int32_t *coordPairs, int coordCount);
+ status_t mapRawToCorrected(int32_t *coordPairs, int coordCount, bool clamp,
+ bool simple = true);
/**
* Transform from distorted (original) to corrected (warped) coordinates.
@@ -82,8 +85,11 @@
*
* rects: A pointer to an array of consecutive (x,y, w, h) rectangles
* rectCount: Number of rectangles to transform
+ * clamp: Whether to clamp the result to the bounds of the active array
+ * simple: Whether to do complex correction or just a simple linear map
*/
- status_t mapRawRectToCorrected(int32_t *rects, int rectCount);
+ status_t mapRawRectToCorrected(int32_t *rects, int rectCount, bool clamp,
+ bool simple = true);
/**
* Transform from corrected (warped) to distorted (original) coordinates.
@@ -91,9 +97,11 @@
*
* coordPairs: A pointer to an array of consecutive (x,y) points
* coordCount: Number of (x,y) pairs to transform
+ * clamp: Whether to clamp the result to the bounds of the precorrection active array
+ * simple: Whether to do complex correction or just a simple linear map
*/
- template<typename T>
- status_t mapCorrectedToRaw(T* coordPairs, int coordCount) const;
+ status_t mapCorrectedToRaw(int32_t* coordPairs, int coordCount, bool clamp,
+ bool simple = true) const;
/**
* Transform from corrected (warped) to distorted (original) coordinates.
@@ -101,8 +109,11 @@
*
* rects: A pointer to an array of consecutive (x,y, w, h) rectangles
* rectCount: Number of rectangles to transform
+ * clamp: Whether to clamp the result to the bounds of the precorrection active array
+ * simple: Whether to do complex correction or just a simple linear map
*/
- status_t mapCorrectedRectToRaw(int32_t *rects, int rectCount) const;
+ status_t mapCorrectedRectToRaw(int32_t *rects, int rectCount, bool clamp,
+ bool simple = true) const;
struct GridQuad {
// Source grid quad, or null
@@ -150,8 +161,18 @@
// Only capture result
static const std::array<uint32_t, 1> kResultRectsToCorrect;
- // Only for capture results
- static const std::array<uint32_t, 2> kResultPointsToCorrect;
+ // Only for capture results; don't clamp
+ static const std::array<uint32_t, 2> kResultPointsToCorrectNoClamp;
+
+ // Single implementation for various mapCorrectedToRaw methods
+ template<typename T>
+ status_t mapCorrectedToRawImpl(T* coordPairs, int coordCount, bool clamp, bool simple) const;
+
+ // Simple linear interpolation option
+ template<typename T>
+ status_t mapCorrectedToRawImplSimple(T* coordPairs, int coordCount, bool clamp) const;
+
+ status_t mapRawToCorrectedSimple(int32_t *coordPairs, int coordCount, bool clamp) const;
// Utility to create reverse mapping grids
status_t buildGrids();
@@ -168,9 +189,11 @@
float mK[5];
// pre-correction active array dimensions
- int mArrayWidth, mArrayHeight;
+ float mArrayWidth, mArrayHeight;
// active array dimensions
- int mActiveWidth, mActiveHeight;
+ float mActiveWidth, mActiveHeight;
+ // corner offsets between pre-correction and active arrays
+ float mArrayDiffX, mArrayDiffY;
std::vector<GridQuad> mCorrectedGrid;
std::vector<GridQuad> mDistortedGrid;
diff --git a/services/camera/libcameraservice/tests/DistortionMapperTest.cpp b/services/camera/libcameraservice/tests/DistortionMapperTest.cpp
index b489931..2a689c6 100644
--- a/services/camera/libcameraservice/tests/DistortionMapperTest.cpp
+++ b/services/camera/libcameraservice/tests/DistortionMapperTest.cpp
@@ -30,6 +30,7 @@
int32_t testActiveArray[] = {100, 100, 1000, 750};
+int32_t testPreCorrActiveArray[] = {90, 90, 1020, 770};
float testICal[] = { 1000.f, 1000.f, 500.f, 500.f, 0.f };
@@ -45,14 +46,19 @@
};
-void setupTestMapper(DistortionMapper *m, float distortion[5]) {
+void setupTestMapper(DistortionMapper *m,
+ float distortion[5], float intrinsics[5],
+ int32_t activeArray[4], int32_t preCorrectionActiveArray[4]) {
CameraMetadata deviceInfo;
deviceInfo.update(ANDROID_SENSOR_INFO_PRE_CORRECTION_ACTIVE_ARRAY_SIZE,
- testActiveArray, 4);
+ preCorrectionActiveArray, 4);
+
+ deviceInfo.update(ANDROID_SENSOR_INFO_ACTIVE_ARRAY_SIZE,
+ activeArray, 4);
deviceInfo.update(ANDROID_LENS_INTRINSIC_CALIBRATION,
- testICal, 5);
+ intrinsics, 5);
deviceInfo.update(ANDROID_LENS_DISTORTION,
distortion, 5);
@@ -89,6 +95,9 @@
ASSERT_FALSE(m.calibrationValid());
deviceInfo.update(ANDROID_SENSOR_INFO_PRE_CORRECTION_ACTIVE_ARRAY_SIZE,
+ testPreCorrActiveArray, 4);
+
+ deviceInfo.update(ANDROID_SENSOR_INFO_ACTIVE_ARRAY_SIZE,
testActiveArray, 4);
deviceInfo.update(ANDROID_LENS_INTRINSIC_CALIBRATION,
@@ -118,17 +127,19 @@
status_t res;
DistortionMapper m;
- setupTestMapper(&m, identityDistortion);
+ setupTestMapper(&m, identityDistortion, testICal,
+ /*activeArray*/ testActiveArray,
+ /*preCorrectionActiveArray*/ testActiveArray);
auto coords = basicCoords;
- res = m.mapCorrectedToRaw(coords.data(), 5);
+ res = m.mapCorrectedToRaw(coords.data(), 5, /*clamp*/true);
ASSERT_EQ(res, OK);
for (size_t i = 0; i < coords.size(); i++) {
EXPECT_EQ(coords[i], basicCoords[i]);
}
- res = m.mapRawToCorrected(coords.data(), 5);
+ res = m.mapRawToCorrected(coords.data(), 5, /*clamp*/true);
ASSERT_EQ(res, OK);
for (size_t i = 0; i < coords.size(); i++) {
@@ -137,18 +148,18 @@
std::array<int32_t, 8> rects = {
0, 0, 100, 100,
- testActiveArray[2] - 100, testActiveArray[3]-100, 100, 100
+ testActiveArray[2] - 101, testActiveArray[3] - 101, 100, 100
};
auto rectsOrig = rects;
- res = m.mapCorrectedRectToRaw(rects.data(), 2);
+ res = m.mapCorrectedRectToRaw(rects.data(), 2, /*clamp*/true);
ASSERT_EQ(res, OK);
for (size_t i = 0; i < rects.size(); i++) {
EXPECT_EQ(rects[i], rectsOrig[i]);
}
- res = m.mapRawRectToCorrected(rects.data(), 2);
+ res = m.mapRawRectToCorrected(rects.data(), 2, /*clamp*/true);
ASSERT_EQ(res, OK);
for (size_t i = 0; i < rects.size(); i++) {
@@ -156,23 +167,39 @@
}
}
-TEST(DistortionMapperTest, LargeTransform) {
+TEST(DistortionMapperTest, SimpleTransform) {
+ status_t res;
+
+ DistortionMapper m;
+ setupTestMapper(&m, identityDistortion, testICal,
+ /*activeArray*/ testActiveArray,
+ /*preCorrectionActiveArray*/ testPreCorrActiveArray);
+
+ auto coords = basicCoords;
+ res = m.mapCorrectedToRaw(coords.data(), 5, /*clamp*/true, /*simple*/true);
+ ASSERT_EQ(res, OK);
+
+ ASSERT_EQ(coords[0], 0); ASSERT_EQ(coords[1], 0);
+ ASSERT_EQ(coords[2], testPreCorrActiveArray[2] - 1); ASSERT_EQ(coords[3], 0);
+ ASSERT_EQ(coords[4], testPreCorrActiveArray[2] - 1); ASSERT_EQ(coords[5], testPreCorrActiveArray[3] - 1);
+ ASSERT_EQ(coords[6], 0); ASSERT_EQ(coords[7], testPreCorrActiveArray[3] - 1);
+ ASSERT_EQ(coords[8], testPreCorrActiveArray[2] / 2); ASSERT_EQ(coords[9], testPreCorrActiveArray[3] / 2);
+}
+
+
+void RandomTransformTest(::testing::Test *test,
+ int32_t* activeArray, DistortionMapper &m, bool clamp, bool simple) {
status_t res;
constexpr int maxAllowedPixelError = 2; // Maximum per-pixel error allowed
constexpr int bucketsPerPixel = 3; // Histogram granularity
unsigned int seed = 1234; // Ensure repeatability for debugging
- const size_t coordCount = 1e6; // Number of random test points
-
- float bigDistortion[] = {0.1, -0.003, 0.004, 0.02, 0.01};
-
- DistortionMapper m;
- setupTestMapper(&m, bigDistortion);
+ const size_t coordCount = 1e5; // Number of random test points
std::default_random_engine gen(seed);
- std::uniform_int_distribution<int> x_dist(0, testActiveArray[2] - 1);
- std::uniform_int_distribution<int> y_dist(0, testActiveArray[3] - 1);
+ std::uniform_int_distribution<int> x_dist(0, activeArray[2] - 1);
+ std::uniform_int_distribution<int> y_dist(0, activeArray[3] - 1);
std::vector<int32_t> randCoords(coordCount * 2);
@@ -186,12 +213,12 @@
auto origCoords = randCoords;
base::Timer correctedToRawTimer;
- res = m.mapCorrectedToRaw(randCoords.data(), randCoords.size() / 2);
+ res = m.mapCorrectedToRaw(randCoords.data(), randCoords.size() / 2, clamp, simple);
auto correctedToRawDurationMs = correctedToRawTimer.duration();
EXPECT_EQ(res, OK);
base::Timer rawToCorrectedTimer;
- res = m.mapRawToCorrected(randCoords.data(), randCoords.size() / 2);
+ res = m.mapRawToCorrected(randCoords.data(), randCoords.size() / 2, clamp, simple);
auto rawToCorrectedDurationMs = rawToCorrectedTimer.duration();
EXPECT_EQ(res, OK);
@@ -202,9 +229,9 @@
(std::chrono::duration_cast<std::chrono::duration<double, std::micro>>(
rawToCorrectedDurationMs) / (randCoords.size() / 2) ).count();
- RecordProperty("CorrectedToRawDurationPerCoordUs",
+ test->RecordProperty("CorrectedToRawDurationPerCoordUs",
base::StringPrintf("%f", correctedToRawDurationPerCoordUs));
- RecordProperty("RawToCorrectedDurationPerCoordUs",
+ test->RecordProperty("RawToCorrectedDurationPerCoordUs",
base::StringPrintf("%f", rawToCorrectedDurationPerCoordUs));
// Calculate mapping errors after round trip
@@ -239,17 +266,61 @@
}
float rmsError = std::sqrt(totalErrorSq / randCoords.size());
- RecordProperty("RmsError", base::StringPrintf("%f", rmsError));
+ test->RecordProperty("RmsError", base::StringPrintf("%f", rmsError));
for (size_t i = 0; i < histogram.size(); i++) {
std::string label = base::StringPrintf("HistogramBin[%f,%f)",
(float)i/bucketsPerPixel, (float)(i + 1)/bucketsPerPixel);
- RecordProperty(label, histogram[i]);
+ test->RecordProperty(label, histogram[i]);
}
- RecordProperty("HistogramOutOfRange", outOfHistogram);
+ test->RecordProperty("HistogramOutOfRange", outOfHistogram);
+}
+
+// Test a realistic distortion function with matching calibration values, enforcing
+// clamping.
+TEST(DistortionMapperTest, DISABLED_SmallTransform) {
+ int32_t activeArray[] = {0, 8, 3278, 2450};
+ int32_t preCorrectionActiveArray[] = {0, 0, 3280, 2464};
+
+ float distortion[] = {0.06875723, -0.13922249, 0.02818312, -0.00032781, -0.00025431};
+ float intrinsics[] = {1812.50000000, 1812.50000000, 1645.59533691, 1229.23229980, 0.00000000};
+
+ DistortionMapper m;
+ setupTestMapper(&m, distortion, intrinsics, activeArray, preCorrectionActiveArray);
+
+ RandomTransformTest(this, activeArray, m, /*clamp*/true, /*simple*/false);
+}
+
+// Test a realistic distortion function with matching calibration values, enforcing
+// clamping, but using the simple linear transform
+TEST(DistortionMapperTest, SmallSimpleTransform) {
+ int32_t activeArray[] = {0, 8, 3278, 2450};
+ int32_t preCorrectionActiveArray[] = {0, 0, 3280, 2464};
+
+ float distortion[] = {0.06875723, -0.13922249, 0.02818312, -0.00032781, -0.00025431};
+ float intrinsics[] = {1812.50000000, 1812.50000000, 1645.59533691, 1229.23229980, 0.00000000};
+
+ DistortionMapper m;
+ setupTestMapper(&m, distortion, intrinsics, activeArray, preCorrectionActiveArray);
+
+ RandomTransformTest(this, activeArray, m, /*clamp*/true, /*simple*/true);
+}
+
+// Test a very large distortion function; the regions aren't valid for such a big transform,
+// so disable clamping. This test is just to verify round-trip math accuracy for big transforms
+TEST(DistortionMapperTest, LargeTransform) {
+ float bigDistortion[] = {0.1, -0.003, 0.004, 0.02, 0.01};
+
+ DistortionMapper m;
+ setupTestMapper(&m, bigDistortion, testICal,
+ /*activeArray*/testActiveArray,
+ /*preCorrectionActiveArray*/testPreCorrActiveArray);
+
+ RandomTransformTest(this, testActiveArray, m, /*clamp*/false, /*simple*/false);
}
// Compare against values calculated by OpenCV
// undistortPoints() method, which is the same as mapRawToCorrected
+// Ignore clamping
// See script DistortionMapperComp.py
#include "DistortionMapperTest_OpenCvData.h"
@@ -262,11 +333,14 @@
const int32_t maxSqError = 2;
DistortionMapper m;
- setupTestMapper(&m, bigDistortion);
+ setupTestMapper(&m, bigDistortion, testICal,
+ /*activeArray*/testActiveArray,
+ /*preCorrectionActiveArray*/testActiveArray);
using namespace openCvData;
- res = m.mapRawToCorrected(rawCoords.data(), rawCoords.size() / 2);
+ res = m.mapRawToCorrected(rawCoords.data(), rawCoords.size() / 2, /*clamp*/false,
+ /*simple*/false);
for (size_t i = 0; i < rawCoords.size(); i+=2) {
int32_t dist = (rawCoords[i] - expCoords[i]) * (rawCoords[i] - expCoords[i]) +
