1# Copyright 2016 The Android Open Source Project 2# 3# Licensed under the Apache License, Version 2.0 (the "License"); 4# you may not use this file except in compliance with the License. 5# You may obtain a copy of the License at 6# 7# http://www.apache.org/licenses/LICENSE-2.0 8# 9# Unless required by applicable law or agreed to in writing, software 10# distributed under the License is distributed on an "AS IS" BASIS, 11# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12# See the License for the specific language governing permissions and 13# limitations under the License. 14"""Verifies android.lens.state when lens is moving.""" 15 16 17import copy 18import logging 19import math 20import os 21from mobly import test_runner 22import numpy as np 23 24import its_base_test 25import camera_properties_utils 26import capture_request_utils 27import image_processing_utils 28import its_session_utils 29import opencv_processing_utils 30 31 32_FRAME_ATOL_MS = 10 33_LENS_INTRINSIC_CAL_FX_IDX = 0 34_LENS_INTRINSIC_CAL_FY_IDX = 1 35_LENS_INTRINSIC_CAL_RTOL = 0.01 36_MIN_AF_FD_RTOL = 0.2 # AF value must 20% larger than min_fd 37_NAME = os.path.splitext(os.path.basename(__file__))[0] 38_NUM_FRAMES_PER_FD = 12 39_POSITION_RTOL = 0.10 # 10% 40_SHARPNESS_RTOL = 0.10 # 10% 41_START_FRAME = 1 # start on second frame 42_VGA_WIDTH, _VGA_HEIGHT = 640, 480 43 44 45def take_caps_and_determine_sharpness( 46 cam, props, fmt, gain, exp, af_fd, chart, log_path): 47 """Return fd, sharpness, lens state of the output images. 48 49 Args: 50 cam: An open device session. 51 props: Properties of cam 52 fmt: dict; capture format 53 gain: Sensitivity for the request as defined in android.sensor.sensitivity 54 exp: Exposure time for the request as defined in 55 android.sensor.exposureTime 56 af_fd: Focus distance for the request as defined in 57 android.lens.focusDistance 58 chart: Object that contains chart information 59 log_path: log_path to save the captured image 60 61 Returns: 62 Object containing reported sharpness of the output image, keyed by 63 the following string: 64 'sharpness' 65 """ 66 67 # initialize variables and take data sets 68 data_set = {} 69 white_level = int(props['android.sensor.info.whiteLevel']) 70 min_fd = props['android.lens.info.minimumFocusDistance'] 71 fds = [af_fd] * _NUM_FRAMES_PER_FD + [min_fd] * _NUM_FRAMES_PER_FD 72 reqs = [] 73 for i, fd in enumerate(fds): 74 reqs.append(capture_request_utils.manual_capture_request(gain, exp)) 75 reqs[i]['android.lens.focusDistance'] = fd 76 caps = cam.do_capture(reqs, fmt) 77 caps = caps[_START_FRAME:] 78 for i, cap in enumerate(caps): 79 data = {'fd': fds[i+_START_FRAME]} 80 data['frame_num'] = i + _START_FRAME 81 data['loc'] = cap['metadata']['android.lens.focusDistance'] 82 data['lens_moving'] = (cap['metadata']['android.lens.state'] 83 == 1) 84 data['lens_intrinsic_calibration'] = ( 85 cap['metadata']['android.lens.intrinsicCalibration']) 86 timestamp = cap['metadata']['android.sensor.timestamp'] * 1E-6 87 if i == 0: 88 timestamp_init = timestamp 89 timestamp -= timestamp_init 90 data['timestamp'] = timestamp 91 y, _, _ = image_processing_utils.convert_capture_to_planes(cap, props) 92 chart.img = image_processing_utils.normalize_img( 93 image_processing_utils.get_image_patch( 94 y, chart.xnorm, chart.ynorm, chart.wnorm, chart.hnorm)) 95 image_processing_utils.write_image( 96 chart.img, f'{os.path.join(log_path, _NAME)}_i={i}.jpg') 97 data['sharpness'] = ( 98 white_level * image_processing_utils.compute_image_sharpness(chart.img)) 99 data_set[i+_START_FRAME] = data 100 return data_set 101 102 103class LensMovementReportingTest(its_base_test.ItsBaseTest): 104 """Test if focus distance is properly reported. 105 106 Do unit step of focus distance and check sharpness correlates. 107 """ 108 109 def test_lens_movement_reporting(self): 110 with its_session_utils.ItsSession( 111 device_id=self.dut.serial, 112 camera_id=self.camera_id, 113 hidden_physical_id=self.hidden_physical_id) as cam: 114 props = cam.get_camera_properties() 115 props = cam.override_with_hidden_physical_camera_props(props) 116 117 # Check skip conditions 118 camera_properties_utils.skip_unless( 119 not camera_properties_utils.fixed_focus(props) and 120 camera_properties_utils.read_3a(props) and 121 camera_properties_utils.lens_approx_calibrated(props)) 122 lens_calibrated = camera_properties_utils.lens_calibrated(props) 123 logging.debug('lens_calibrated: %d', lens_calibrated) 124 125 # Load scene 126 its_session_utils.load_scene( 127 cam, props, self.scene, self.tablet, self.chart_distance) 128 129 # Initialize chart class and locate chart in scene 130 chart = opencv_processing_utils.Chart( 131 cam, props, self.log_path, distance=self.chart_distance) 132 133 # Get proper sensitivity, exposure time, and focus distance with 3A. 134 mono_camera = camera_properties_utils.mono_camera(props) 135 s, e, _, _, af_fd = cam.do_3a(get_results=True, mono_camera=mono_camera) 136 137 # Get sharpness for each focal distance 138 fmt = {'format': 'yuv', 'width': _VGA_WIDTH, 'height': _VGA_HEIGHT} 139 frame_data = take_caps_and_determine_sharpness( 140 cam, props, fmt, s, e, af_fd, chart, self.log_path) 141 for k in sorted(frame_data): 142 logging.debug( 143 'i: %d\tfd: %.3f\tdiopters: %.3f \tsharpness: %.1f \t' 144 'lens_state: %d \ttimestamp: %.1fms\t cal: %s', 145 frame_data[k]['frame_num'], frame_data[k]['fd'], 146 frame_data[k]['loc'], frame_data[k]['sharpness'], 147 frame_data[k]['lens_moving'], frame_data[k]['timestamp'], 148 np.around(frame_data[k]['lens_intrinsic_calibration'], 2)) 149 150 # Assert frames are consecutive 151 frame_diffs = np.gradient([v['timestamp'] for v in frame_data.values()]) 152 delta_diffs = np.amax(frame_diffs) - np.amin(frame_diffs) 153 if not math.isclose(delta_diffs, 0, abs_tol=_FRAME_ATOL_MS): 154 raise AssertionError(f'Timestamp gradient(ms): {delta_diffs:.1f}, ' 155 f'ATOL: {_FRAME_ATOL_MS}') 156 157 # Remove data when lens is moving 158 frame_data_non_moving = copy.deepcopy(frame_data) 159 for k in sorted(frame_data_non_moving): 160 if frame_data_non_moving[k]['lens_moving']: 161 del frame_data_non_moving[k] 162 163 # Split data into min_fd and af data for processing 164 data_min_fd = {} 165 data_af_fd = {} 166 for k in sorted(frame_data_non_moving): 167 if frame_data_non_moving[k]['fd'] == props[ 168 'android.lens.info.minimumFocusDistance']: 169 data_min_fd[k] = frame_data_non_moving[k] 170 if frame_data_non_moving[k]['fd'] == af_fd: 171 data_af_fd[k] = frame_data_non_moving[k] 172 173 logging.debug('Assert reported locs are close for af_fd captures') 174 min_loc = min([v['loc'] for v in data_af_fd.values()]) 175 max_loc = max([v['loc'] for v in data_af_fd.values()]) 176 if not math.isclose(min_loc, max_loc, rel_tol=_POSITION_RTOL): 177 raise AssertionError(f'af_fd[loc] min: {min_loc:.3f}, max: ' 178 f'{max_loc:.3f}, RTOL: {_POSITION_RTOL}') 179 180 logging.debug('Assert reported sharpness is close at af_fd') 181 min_sharp = min([v['sharpness'] for v in data_af_fd.values()]) 182 max_sharp = max([v['sharpness'] for v in data_af_fd.values()]) 183 if not math.isclose(min_sharp, max_sharp, rel_tol=_SHARPNESS_RTOL): 184 raise AssertionError(f'af_fd[sharpness] min: {min_sharp:.3f}, ' 185 f'max: {max_sharp:.3f}, RTOL: {_SHARPNESS_RTOL}') 186 187 logging.debug('Assert reported loc is close to assign loc for af_fd') 188 first_key = min(data_af_fd.keys()) # find 1st non-moving frame 189 loc = data_af_fd[first_key]['loc'] 190 fd = data_af_fd[first_key]['fd'] 191 if not math.isclose(loc, fd, rel_tol=_POSITION_RTOL): 192 raise AssertionError(f'af_fd[loc]: {loc:.3f}, af_fd[fd]: {fd:.3f}, ' 193 f'RTOL: {_POSITION_RTOL}') 194 195 logging.debug('Assert reported locs are close for min_fd captures') 196 min_loc = min([v['loc'] for v in data_min_fd.values()]) 197 max_loc = max([v['loc'] for v in data_min_fd.values()]) 198 if not math.isclose(min_loc, max_loc, rel_tol=_POSITION_RTOL): 199 raise AssertionError(f'min_fd[loc] min: {min_loc:.3f}, max: ' 200 f'{max_loc:.3f}, RTOL: {_POSITION_RTOL}') 201 202 logging.debug('Assert reported sharpness is close at min_fd') 203 min_sharp = min([v['sharpness'] for v in data_min_fd.values()]) 204 max_sharp = max([v['sharpness'] for v in data_min_fd.values()]) 205 if not math.isclose(min_sharp, max_sharp, rel_tol=_SHARPNESS_RTOL): 206 raise AssertionError(f'min_fd[sharpness] min: {min_sharp:.3f}, ' 207 f'max: {max_sharp:.3f}, RTOL: {_SHARPNESS_RTOL}') 208 209 logging.debug('Assert reported loc is close to assigned loc for min_fd') 210 last_key = max(data_min_fd.keys()) # find last (non-moving) frame 211 loc = data_min_fd[last_key]['loc'] 212 fd = data_min_fd[last_key]['fd'] 213 if not math.isclose(loc, fd, rel_tol=_POSITION_RTOL): 214 raise AssertionError(f'min_fd[loc]: {loc:.3f}, min_fd[fd]: {fd:.3f}, ' 215 f'RTOL: {_POSITION_RTOL}') 216 217 logging.debug('Assert AF focus distance > minimum focus distance') 218 min_fd = data_min_fd[last_key]['fd'] 219 if af_fd > min_fd * (1 + _MIN_AF_FD_RTOL): 220 raise AssertionError(f'AF focus distance > min focus distance! af: ' 221 f'{af_fd}, min: {min_fd}, RTOL: {_MIN_AF_FD_RTOL}') 222 223 # Check LENS_INTRINSIC_CALIBRATION 224 if (its_session_utils.get_first_api_level(self.dut.serial) >= 225 its_session_utils.ANDROID15_API_LEVEL and 226 camera_properties_utils.intrinsic_calibration(props)): 227 logging.debug('Assert LENS_INTRINSIC_CALIBRATION changes with lens ' 228 'location on non-moving frames.') 229 last_af_frame_cal = data_af_fd[max(data_af_fd.keys())][ 230 'lens_intrinsic_calibration'] 231 first_min_frame_cal = data_min_fd[min(data_min_fd.keys())][ 232 'lens_intrinsic_calibration'] 233 logging.debug('Last AF frame cal: %s', last_af_frame_cal) 234 logging.debug('1st min_fd frame cal: %s', first_min_frame_cal) 235 if (math.isclose(first_min_frame_cal[_LENS_INTRINSIC_CAL_FX_IDX], 236 last_af_frame_cal[_LENS_INTRINSIC_CAL_FX_IDX], 237 rel_tol=_LENS_INTRINSIC_CAL_RTOL) and 238 math.isclose(first_min_frame_cal[_LENS_INTRINSIC_CAL_FY_IDX], 239 last_af_frame_cal[_LENS_INTRINSIC_CAL_FY_IDX], 240 rel_tol=_LENS_INTRINSIC_CAL_RTOL)): 241 raise AssertionError( 242 'LENS_INTRINSIC_CALIBRAION[f_x, f_y] not changing with lens ' 243 f'movement! AF lens location: {last_af_frame_cal}, ' 244 f'min fd lens location: {first_min_frame_cal}, ' 245 f'RTOL: {_LENS_INTRINSIC_CAL_RTOL}') 246 247if __name__ == '__main__': 248 test_runner.main() 249