Rucha Katakwar | b83e59a | 2021-02-02 17:16:54 -0800 | [diff] [blame] | 1 | # Copyright 2014 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. |
Clemenz Portmann | cddf2bf | 2021-03-19 13:21:16 -0700 | [diff] [blame] | 14 | """Utility functions to determine what functionality the camera supports.""" |
Rucha Katakwar | b83e59a | 2021-02-02 17:16:54 -0800 | [diff] [blame] | 15 | |
| 16 | |
| 17 | import logging |
Clemenz Portmann | 452eead | 2021-02-08 13:55:12 -0800 | [diff] [blame] | 18 | import unittest |
Rucha Katakwar | b83e59a | 2021-02-02 17:16:54 -0800 | [diff] [blame] | 19 | from mobly import asserts |
| 20 | import numpy as np |
| 21 | import capture_request_utils |
| 22 | |
| 23 | LENS_FACING_FRONT = 0 |
| 24 | LENS_FACING_BACK = 1 |
| 25 | LENS_FACING_EXTERNAL = 2 |
| 26 | MULTI_CAMERA_SYNC_CALIBRATED = 1 |
| 27 | NUM_DISTORTION_PARAMS = 5 # number of terms in lens.distortion |
| 28 | NUM_INTRINSIC_CAL_PARAMS = 5 # number of terms in intrinsic calibration |
| 29 | NUM_POSE_ROTATION_PARAMS = 4 # number of terms in poseRotation |
| 30 | NUM_POSE_TRANSLATION_PARAMS = 3 # number of terms in poseTranslation |
| 31 | SKIP_RET_MSG = 'Test skipped' |
| 32 | SOLID_COLOR_TEST_PATTERN = 1 |
| 33 | |
| 34 | |
| 35 | def legacy(props): |
| 36 | """Returns whether a device is a LEGACY capability camera2 device. |
| 37 | |
| 38 | Args: |
| 39 | props: Camera properties object. |
| 40 | |
| 41 | Returns: |
| 42 | Boolean. True if device is a LEGACY camera. |
| 43 | """ |
| 44 | return props.get('android.info.supportedHardwareLevel') == 2 |
| 45 | |
| 46 | |
| 47 | def limited(props): |
| 48 | """Returns whether a device is a LIMITED capability camera2 device. |
| 49 | |
| 50 | Args: |
| 51 | props: Camera properties object. |
| 52 | |
| 53 | Returns: |
| 54 | Boolean. True if device is a LIMITED camera. |
| 55 | """ |
| 56 | return props.get('android.info.supportedHardwareLevel') == 0 |
| 57 | |
| 58 | |
| 59 | def full_or_better(props): |
| 60 | """Returns whether a device is a FULL or better camera2 device. |
| 61 | |
| 62 | Args: |
| 63 | props: Camera properties object. |
| 64 | |
| 65 | Returns: |
| 66 | Boolean. True if device is FULL or LEVEL3 camera. |
| 67 | """ |
| 68 | return (props.get('android.info.supportedHardwareLevel') >= 1 and |
| 69 | props.get('android.info.supportedHardwareLevel') != 2) |
| 70 | |
| 71 | |
| 72 | def level3(props): |
| 73 | """Returns whether a device is a LEVEL3 capability camera2 device. |
| 74 | |
| 75 | Args: |
| 76 | props: Camera properties object. |
| 77 | |
| 78 | Returns: |
| 79 | Boolean. True if device is LEVEL3 camera. |
| 80 | """ |
| 81 | return props.get('android.info.supportedHardwareLevel') == 3 |
| 82 | |
| 83 | |
| 84 | def manual_sensor(props): |
| 85 | """Returns whether a device supports MANUAL_SENSOR capabilities. |
| 86 | |
| 87 | Args: |
| 88 | props: Camera properties object. |
| 89 | |
| 90 | Returns: |
| 91 | Boolean. True if devices supports MANUAL_SENSOR capabilities. |
| 92 | """ |
| 93 | return 1 in props.get('android.request.availableCapabilities', []) |
| 94 | |
| 95 | |
| 96 | def manual_post_proc(props): |
| 97 | """Returns whether a device supports MANUAL_POST_PROCESSING capabilities. |
| 98 | |
| 99 | Args: |
| 100 | props: Camera properties object. |
| 101 | |
| 102 | Returns: |
| 103 | Boolean. True if device supports MANUAL_POST_PROCESSING capabilities. |
| 104 | """ |
| 105 | return 2 in props.get('android.request.availableCapabilities', []) |
| 106 | |
| 107 | |
| 108 | def raw(props): |
| 109 | """Returns whether a device supports RAW capabilities. |
| 110 | |
| 111 | Args: |
| 112 | props: Camera properties object. |
| 113 | |
| 114 | Returns: |
| 115 | Boolean. True if device supports RAW capabilities. |
| 116 | """ |
| 117 | return 3 in props.get('android.request.availableCapabilities', []) |
| 118 | |
| 119 | |
| 120 | def sensor_fusion(props): |
| 121 | """Checks the camera and motion sensor timestamps. |
| 122 | |
| 123 | Returns whether the camera and motion sensor timestamps for the device |
| 124 | are in the same time domain and can be compared directly. |
| 125 | |
| 126 | Args: |
| 127 | props: Camera properties object. |
| 128 | |
| 129 | Returns: |
| 130 | Boolean. True if camera and motion sensor timestamps in same time domain. |
| 131 | """ |
| 132 | return props.get('android.sensor.info.timestampSource') == 1 |
| 133 | |
| 134 | |
| 135 | def logical_multi_camera(props): |
| 136 | """Returns whether a device is a logical multi-camera. |
| 137 | |
| 138 | Args: |
| 139 | props: Camera properties object. |
| 140 | |
| 141 | Returns: |
| 142 | Boolean. True if the device is a logical multi-camera. |
| 143 | """ |
| 144 | return 11 in props.get('android.request.availableCapabilities', []) |
| 145 | |
| 146 | |
| 147 | def logical_multi_camera_physical_ids(props): |
| 148 | """Returns a logical multi-camera's underlying physical cameras. |
| 149 | |
| 150 | Args: |
| 151 | props: Camera properties object. |
| 152 | |
| 153 | Returns: |
| 154 | list of physical cameras backing the logical multi-camera. |
| 155 | """ |
| 156 | physical_ids_list = [] |
| 157 | if logical_multi_camera(props): |
| 158 | physical_ids_list = props['camera.characteristics.physicalCamIds'] |
| 159 | return physical_ids_list |
| 160 | |
| 161 | |
| 162 | def skip_unless(cond): |
| 163 | """Skips the test if the condition is false. |
| 164 | |
| 165 | If a test is skipped, then it is exited and returns the special code |
| 166 | of 101 to the calling shell, which can be used by an external test |
| 167 | harness to differentiate a skip from a pass or fail. |
| 168 | |
| 169 | Args: |
| 170 | cond: Boolean, which must be true for the test to not skip. |
| 171 | |
| 172 | Returns: |
| 173 | Nothing. |
| 174 | """ |
| 175 | if not cond: |
| 176 | asserts.skip(SKIP_RET_MSG) |
| 177 | |
| 178 | |
| 179 | def backward_compatible(props): |
| 180 | """Returns whether a device supports BACKWARD_COMPATIBLE. |
| 181 | |
| 182 | Args: |
| 183 | props: Camera properties object. |
| 184 | |
| 185 | Returns: |
| 186 | Boolean. True if the devices supports BACKWARD_COMPATIBLE. |
| 187 | """ |
| 188 | return 0 in props.get('android.request.availableCapabilities', []) |
| 189 | |
| 190 | |
| 191 | def lens_calibrated(props): |
| 192 | """Returns whether lens position is calibrated or not. |
| 193 | |
| 194 | android.lens.info.focusDistanceCalibration has 3 modes. |
| 195 | 0: Uncalibrated |
| 196 | 1: Approximate |
| 197 | 2: Calibrated |
| 198 | |
| 199 | Args: |
| 200 | props: Camera properties objects. |
| 201 | |
| 202 | Returns: |
| 203 | Boolean. True if lens is CALIBRATED. |
| 204 | """ |
| 205 | return 'android.lens.info.focusDistanceCalibration' in props and props[ |
| 206 | 'android.lens.info.focusDistanceCalibration'] == 2 |
| 207 | |
| 208 | |
| 209 | def lens_approx_calibrated(props): |
| 210 | """Returns whether lens position is calibrated or not. |
| 211 | |
| 212 | android.lens.info.focusDistanceCalibration has 3 modes. |
| 213 | 0: Uncalibrated |
| 214 | 1: Approximate |
| 215 | 2: Calibrated |
| 216 | |
| 217 | Args: |
| 218 | props: Camera properties objects. |
| 219 | |
| 220 | Returns: |
| 221 | Boolean. True if lens is APPROXIMATE or CALIBRATED. |
| 222 | """ |
| 223 | return props.get('android.lens.info.focusDistanceCalibration') in [1, 2] |
| 224 | |
| 225 | |
| 226 | def raw10(props): |
| 227 | """Returns whether a device supports RAW10 capabilities. |
| 228 | |
| 229 | Args: |
| 230 | props: Camera properties object. |
| 231 | |
| 232 | Returns: |
| 233 | Boolean. True if device supports RAW10 capabilities. |
| 234 | """ |
| 235 | if capture_request_utils.get_available_output_sizes('raw10', props): |
| 236 | return True |
| 237 | return False |
| 238 | |
| 239 | |
| 240 | def raw12(props): |
| 241 | """Returns whether a device supports RAW12 capabilities. |
| 242 | |
| 243 | Args: |
| 244 | props: Camera properties object. |
| 245 | |
| 246 | Returns: |
| 247 | Boolean. True if device supports RAW12 capabilities. |
| 248 | """ |
| 249 | if capture_request_utils.get_available_output_sizes('raw12', props): |
| 250 | return True |
| 251 | return False |
| 252 | |
| 253 | |
| 254 | def raw16(props): |
| 255 | """Returns whether a device supports RAW16 output. |
| 256 | |
| 257 | Args: |
| 258 | props: Camera properties object. |
| 259 | |
| 260 | Returns: |
| 261 | Boolean. True if device supports RAW16 capabilities. |
| 262 | """ |
| 263 | if capture_request_utils.get_available_output_sizes('raw', props): |
| 264 | return True |
| 265 | return False |
| 266 | |
| 267 | |
| 268 | def raw_output(props): |
| 269 | """Returns whether a device supports any of the RAW output formats. |
| 270 | |
| 271 | Args: |
| 272 | props: Camera properties object. |
| 273 | |
| 274 | Returns: |
| 275 | Boolean. True if device supports any of the RAW output formats |
| 276 | """ |
| 277 | return raw16(props) or raw10(props) or raw12(props) |
| 278 | |
| 279 | |
| 280 | def per_frame_control(props): |
| 281 | """Returns whether a device supports per frame control. |
| 282 | |
| 283 | Args: |
| 284 | props: Camera properties object. |
| 285 | |
| 286 | Returns: Boolean. True if devices supports per frame control. |
| 287 | """ |
| 288 | return 'android.sync.maxLatency' in props and props[ |
| 289 | 'android.sync.maxLatency'] == 0 |
| 290 | |
| 291 | |
| 292 | def mono_camera(props): |
| 293 | """Returns whether a device is monochromatic. |
| 294 | |
| 295 | Args: |
| 296 | props: Camera properties object. |
| 297 | Returns: Boolean. True if MONO camera. |
| 298 | """ |
| 299 | return 12 in props.get('android.request.availableCapabilities', []) |
| 300 | |
| 301 | |
| 302 | def fixed_focus(props): |
| 303 | """Returns whether a device is fixed focus. |
| 304 | |
| 305 | props[android.lens.info.minimumFocusDistance] == 0 is fixed focus |
| 306 | |
| 307 | Args: |
| 308 | props: Camera properties objects. |
| 309 | |
| 310 | Returns: |
| 311 | Boolean. True if device is a fixed focus camera. |
| 312 | """ |
| 313 | return 'android.lens.info.minimumFocusDistance' in props and props[ |
| 314 | 'android.lens.info.minimumFocusDistance'] == 0 |
| 315 | |
| 316 | |
| 317 | def face_detect(props): |
| 318 | """Returns whether a device has face detection mode. |
| 319 | |
| 320 | props['android.statistics.info.availableFaceDetectModes'] != 0 |
| 321 | |
| 322 | Args: |
| 323 | props: Camera properties objects. |
| 324 | |
| 325 | Returns: |
| 326 | Boolean. True if device supports face detection. |
| 327 | """ |
| 328 | return 'android.statistics.info.availableFaceDetectModes' in props and props[ |
| 329 | 'android.statistics.info.availableFaceDetectModes'] != [0] |
| 330 | |
| 331 | |
| 332 | def read_3a(props): |
| 333 | """Return whether a device supports reading out the below 3A settings. |
| 334 | |
| 335 | sensitivity |
| 336 | exposure time |
| 337 | awb gain |
| 338 | awb cct |
| 339 | focus distance |
| 340 | |
| 341 | Args: |
| 342 | props: Camera properties object. |
| 343 | |
| 344 | Returns: |
| 345 | Boolean. True if device supports reading out 3A settings. |
| 346 | """ |
| 347 | return manual_sensor(props) and manual_post_proc(props) |
| 348 | |
| 349 | |
| 350 | def compute_target_exposure(props): |
| 351 | """Return whether a device supports target exposure computation. |
| 352 | |
| 353 | Args: |
| 354 | props: Camera properties object. |
| 355 | |
| 356 | Returns: |
| 357 | Boolean. True if device supports target exposure computation. |
| 358 | """ |
| 359 | return manual_sensor(props) and manual_post_proc(props) |
| 360 | |
| 361 | |
| 362 | def y8(props): |
| 363 | """Returns whether a device supports Y8 output. |
| 364 | |
| 365 | Args: |
| 366 | props: Camera properties object. |
| 367 | |
| 368 | Returns: |
| 369 | Boolean. True if device suupports Y8 output. |
| 370 | """ |
| 371 | if capture_request_utils.get_available_output_sizes('y8', props): |
| 372 | return True |
| 373 | return False |
| 374 | |
| 375 | |
| 376 | def jpeg_quality(props): |
| 377 | """Returns whether a device supports JPEG quality.""" |
| 378 | return ('camera.characteristics.requestKeys' in props) and ( |
| 379 | 'android.jpeg.quality' in props['camera.characteristics.requestKeys']) |
| 380 | |
| 381 | |
| 382 | def zoom_ratio_range(props): |
| 383 | """Returns whether a device supports zoom capabilities. |
| 384 | |
| 385 | Args: |
| 386 | props: Camera properties object. |
| 387 | |
| 388 | Returns: |
| 389 | Boolean. True if device supports zoom capabilities. |
| 390 | """ |
| 391 | return 'android.control.zoomRatioRange' in props and props[ |
| 392 | 'android.control.zoomRatioRange'] is not None |
| 393 | |
| 394 | |
| 395 | def sync_latency(props): |
| 396 | """Returns sync latency in number of frames. |
| 397 | |
| 398 | If undefined, 8 frames. |
| 399 | |
| 400 | Args: |
| 401 | props: Camera properties object. |
| 402 | |
| 403 | Returns: |
| 404 | integer number of frames. |
| 405 | """ |
| 406 | latency = props['android.sync.maxLatency'] |
| 407 | if latency < 0: |
| 408 | latency = 8 |
| 409 | return latency |
| 410 | |
| 411 | |
| 412 | def get_max_digital_zoom(props): |
| 413 | """Returns the maximum amount of zooming possible by the camera device. |
| 414 | |
| 415 | Args: |
| 416 | props: Camera properties object. |
| 417 | |
| 418 | Returns: |
| 419 | A float indicating the maximum amount of zooming possible by the |
| 420 | camera device. |
| 421 | """ |
| 422 | z_max = 1.0 |
| 423 | if 'android.scaler.availableMaxDigitalZoom' in props: |
| 424 | z_max = props['android.scaler.availableMaxDigitalZoom'] |
| 425 | return z_max |
| 426 | |
| 427 | |
| 428 | def ae_lock(props): |
| 429 | """Returns whether a device supports AE lock. |
| 430 | |
| 431 | Args: |
| 432 | props: Camera properties object. |
| 433 | |
| 434 | Returns: |
| 435 | Boolean. True if device supports AE lock. |
| 436 | """ |
| 437 | return 'android.control.aeLockAvailable' in props and props[ |
| 438 | 'android.control.aeLockAvailable'] == 1 |
| 439 | |
| 440 | |
| 441 | def awb_lock(props): |
| 442 | """Returns whether a device supports AWB lock. |
| 443 | |
| 444 | Args: |
| 445 | props: Camera properties object. |
| 446 | |
| 447 | Returns: |
| 448 | Boolean. True if device supports AWB lock. |
| 449 | """ |
| 450 | return 'android.control.awbLockAvailable' in props and props[ |
| 451 | 'android.control.awbLockAvailable'] == 1 |
| 452 | |
| 453 | |
| 454 | def ev_compensation(props): |
| 455 | """Returns whether a device supports ev compensation. |
| 456 | |
| 457 | Args: |
| 458 | props: Camera properties object. |
| 459 | |
| 460 | Returns: |
| 461 | Boolean. True if device supports EV compensation. |
| 462 | """ |
| 463 | return 'android.control.aeCompensationRange' in props and props[ |
| 464 | 'android.control.aeCompensationRange'] != [0, 0] |
| 465 | |
| 466 | |
| 467 | def flash(props): |
| 468 | """Returns whether a device supports flash control. |
| 469 | |
| 470 | Args: |
| 471 | props: Camera properties object. |
| 472 | |
| 473 | Returns: |
| 474 | Boolean. True if device supports flash control. |
| 475 | """ |
| 476 | return 'android.flash.info.available' in props and props[ |
| 477 | 'android.flash.info.available'] == 1 |
| 478 | |
| 479 | |
| 480 | def distortion_correction(props): |
| 481 | """Returns whether a device supports android.lens.distortion capabilities. |
| 482 | |
| 483 | Args: |
| 484 | props: Camera properties object. |
| 485 | |
| 486 | Returns: |
| 487 | Boolean. True if device supports lens distortion correction capabilities. |
| 488 | """ |
| 489 | return 'android.lens.distortion' in props and props[ |
| 490 | 'android.lens.distortion'] is not None |
| 491 | |
| 492 | |
| 493 | def freeform_crop(props): |
| 494 | """Returns whether a device supports freefrom cropping. |
| 495 | |
| 496 | Args: |
| 497 | props: Camera properties object. |
| 498 | |
| 499 | Returns: |
| 500 | Boolean. True if device supports freeform cropping. |
| 501 | """ |
| 502 | return 'android.scaler.croppingType' in props and props[ |
| 503 | 'android.scaler.croppingType'] == 1 |
| 504 | |
| 505 | |
| 506 | def noise_reduction_mode(props, mode): |
| 507 | """Returns whether a device supports the noise reduction mode. |
| 508 | |
| 509 | Args: |
| 510 | props: Camera properties objects. |
| 511 | mode: Integer indicating noise reduction mode to check for availability. |
| 512 | |
| 513 | Returns: |
| 514 | Boolean. Ture if devices supports noise reduction mode(s). |
| 515 | """ |
| 516 | return ('android.noiseReduction.availableNoiseReductionModes' in props and |
| 517 | mode in props['android.noiseReduction.availableNoiseReductionModes']) |
| 518 | |
| 519 | |
| 520 | def lsc_map(props): |
| 521 | """Returns whether a device supports lens shading map output. |
| 522 | |
| 523 | Args: |
| 524 | props: Camera properties object. |
| 525 | Returns: Boolean. True if device supports lens shading map output. |
| 526 | """ |
| 527 | return 1 in props.get('android.statistics.info.availableLensShadingMapModes', |
| 528 | []) |
| 529 | |
| 530 | |
| 531 | def lsc_off(props): |
| 532 | """Returns whether a device supports disabling lens shading correction. |
| 533 | |
| 534 | Args: |
| 535 | props: Camera properties object. |
| 536 | |
| 537 | Returns: |
| 538 | Boolean. True if device supports disabling lens shading correction. |
| 539 | """ |
| 540 | return 0 in props.get('android.shading.availableModes', []) |
| 541 | |
| 542 | |
| 543 | def edge_mode(props, mode): |
| 544 | """Returns whether a device supports the edge mode. |
| 545 | |
| 546 | Args: |
| 547 | props: Camera properties objects. |
| 548 | mode: Integer, indicating the edge mode to check for availability. |
| 549 | |
| 550 | Returns: |
| 551 | Boolean. True if device supports edge mode(s). |
| 552 | """ |
| 553 | return 'android.edge.availableEdgeModes' in props and mode in props[ |
| 554 | 'android.edge.availableEdgeModes'] |
| 555 | |
| 556 | |
| 557 | def yuv_reprocess(props): |
| 558 | """Returns whether a device supports YUV reprocessing. |
| 559 | |
| 560 | Args: |
| 561 | props: Camera properties object. |
| 562 | |
| 563 | Returns: |
| 564 | Boolean. True if device supports YUV reprocessing. |
| 565 | """ |
| 566 | return 'android.request.availableCapabilities' in props and 7 in props[ |
| 567 | 'android.request.availableCapabilities'] |
| 568 | |
| 569 | |
| 570 | def private_reprocess(props): |
| 571 | """Returns whether a device supports PRIVATE reprocessing. |
| 572 | |
| 573 | Args: |
| 574 | props: Camera properties object. |
| 575 | |
| 576 | Returns: |
| 577 | Boolean. True if device supports PRIVATE reprocessing. |
| 578 | """ |
| 579 | return 'android.request.availableCapabilities' in props and 4 in props[ |
| 580 | 'android.request.availableCapabilities'] |
| 581 | |
| 582 | |
| 583 | def intrinsic_calibration(props): |
| 584 | """Returns whether a device supports android.lens.intrinsicCalibration. |
| 585 | |
| 586 | Args: |
| 587 | props: Camera properties object. |
| 588 | |
| 589 | Returns: |
| 590 | Boolean. True if device supports android.lens.intrinsicCalibratino. |
| 591 | """ |
| 592 | return props.get('android.lens.intrinsicCalibration') is not None |
| 593 | |
| 594 | |
| 595 | def get_intrinsic_calibration(props, debug, fd=None): |
| 596 | """Get intrinsicCalibration and create intrisic matrix. |
| 597 | |
| 598 | If intrinsic android.lens.intrinsicCalibration does not exist, return None. |
| 599 | |
| 600 | Args: |
| 601 | props: camera properties |
| 602 | debug: bool to print more information |
| 603 | fd: focal length from capture metadata |
| 604 | |
| 605 | Returns: |
| 606 | intrinsic transformation matrix |
| 607 | k = [[f_x, s, c_x], |
| 608 | [0, f_y, c_y], |
| 609 | [0, 0, 1]] |
| 610 | """ |
| 611 | if props.get('android.lens.intrinsicCalibration'): |
| 612 | ical = np.array(props['android.lens.intrinsicCalibration']) |
| 613 | else: |
| 614 | logging.error('Device does not have android.lens.intrinsicCalibration.') |
| 615 | return None |
| 616 | |
| 617 | # basic checks for parameter correctness |
| 618 | ical_len = len(ical) |
| 619 | if ical_len != NUM_INTRINSIC_CAL_PARAMS: |
| 620 | raise ValueError( |
| 621 | f'instrisicCalibration has wrong number of params: {ical_len}.') |
| 622 | |
| 623 | if fd is not None: |
| 624 | # detailed checks for parameter correctness |
| 625 | # Intrinsic cal is of format: [f_x, f_y, c_x, c_y, s] |
| 626 | # [f_x, f_y] is the horizontal and vertical focal lengths, |
| 627 | # [c_x, c_y] is the position of the optical axis, |
| 628 | # and s is skew of sensor plane vs lens plane. |
| 629 | sensor_h = props['android.sensor.info.physicalSize']['height'] |
| 630 | sensor_w = props['android.sensor.info.physicalSize']['width'] |
| 631 | pixel_h = props['android.sensor.info.pixelArraySize']['height'] |
| 632 | pixel_w = props['android.sensor.info.pixelArraySize']['width'] |
| 633 | fd_w_pix = pixel_w * fd / sensor_w |
| 634 | fd_h_pix = pixel_h * fd / sensor_h |
| 635 | |
| 636 | if not np.isclose(fd_w_pix, ical[0], rtol=0.20): |
| 637 | raise ValueError('fd_w(pixels): %.2f\tcal[0](pixels): %.2f\tTOL=20%%' % ( |
| 638 | fd_w_pix, ical[0])) |
| 639 | if not np.isclose(fd_h_pix, ical[1], rtol=0.20): |
| 640 | raise ValueError('fd_h(pixels): %.2f\tcal[1](pixels): %.2f\tTOL=20%%' % ( |
| 641 | fd_h_pix, ical[0])) |
| 642 | |
| 643 | # generate instrinsic matrix |
| 644 | k = np.array([[ical[0], ical[4], ical[2]], |
| 645 | [0, ical[1], ical[3]], |
| 646 | [0, 0, 1]]) |
| 647 | if debug: |
| 648 | logging.debug('k: %s', str(k)) |
| 649 | return k |
| 650 | |
| 651 | |
| 652 | def get_translation_matrix(props, debug): |
| 653 | """Get translation matrix. |
| 654 | |
| 655 | Args: |
| 656 | props: dict of camera properties |
| 657 | debug: boolean flag to log more info |
| 658 | |
| 659 | Returns: |
| 660 | android.lens.poseTranslation matrix if it exists, otherwise None. |
| 661 | """ |
| 662 | if props['android.lens.poseTranslation']: |
| 663 | t = np.array(props['android.lens.poseTranslation']) |
| 664 | else: |
| 665 | logging.error('Device does not have android.lens.poseTranslation.') |
| 666 | return None |
| 667 | |
| 668 | if debug: |
| 669 | logging.debug('translation: %s', str(t)) |
| 670 | t_len = len(t) |
| 671 | if t_len != NUM_POSE_TRANSLATION_PARAMS: |
| 672 | raise ValueError(f'poseTranslation has wrong # of params: {t_len}.') |
| 673 | return t |
| 674 | |
| 675 | |
| 676 | def get_rotation_matrix(props, debug): |
| 677 | """Convert the rotation parameters to 3-axis data. |
| 678 | |
| 679 | Args: |
| 680 | props: camera properties |
| 681 | debug: boolean for more information |
| 682 | |
| 683 | Returns: |
| 684 | 3x3 matrix w/ rotation parameters if poseRotation exists, otherwise None |
| 685 | """ |
| 686 | if props['android.lens.poseRotation']: |
| 687 | rotation = np.array(props['android.lens.poseRotation']) |
| 688 | else: |
| 689 | logging.error('Device does not have android.lens.poseRotation.') |
| 690 | return None |
| 691 | |
| 692 | if debug: |
| 693 | logging.debug('rotation: %s', str(rotation)) |
| 694 | rotation_len = len(rotation) |
| 695 | if rotation_len != NUM_POSE_ROTATION_PARAMS: |
| 696 | raise ValueError(f'poseRotation has wrong # of params: {rotation_len}.') |
| 697 | x = rotation[0] |
| 698 | y = rotation[1] |
| 699 | z = rotation[2] |
| 700 | w = rotation[3] |
| 701 | return np.array([[1-2*y**2-2*z**2, 2*x*y-2*z*w, 2*x*z+2*y*w], |
| 702 | [2*x*y+2*z*w, 1-2*x**2-2*z**2, 2*y*z-2*x*w], |
| 703 | [2*x*z-2*y*w, 2*y*z+2*x*w, 1-2*x**2-2*y**2]]) |
| 704 | |
| 705 | |
| 706 | def get_distortion_matrix(props): |
| 707 | """Get android.lens.distortion matrix and convert to cv2 fmt. |
| 708 | |
| 709 | Args: |
| 710 | props: dict of camera properties |
| 711 | |
| 712 | Returns: |
| 713 | cv2 reordered android.lens.distortion if it exists, otherwise None. |
| 714 | """ |
| 715 | if props['android.lens.distortion']: |
| 716 | dist = np.array(props['android.lens.distortion']) |
| 717 | else: |
| 718 | logging.error('Device does not have android.lens.distortion.') |
| 719 | return None |
| 720 | |
| 721 | dist_len = len(dist) |
| 722 | if len(dist) != NUM_DISTORTION_PARAMS: |
| 723 | raise ValueError(f'lens.distortion has wrong # of params: {dist_len}.') |
| 724 | cv2_distort = np.array([dist[0], dist[1], dist[3], dist[4], dist[2]]) |
| 725 | logging.debug('cv2 distortion params: %s', str(cv2_distort)) |
| 726 | return cv2_distort |
| 727 | |
| 728 | |
| 729 | def post_raw_sensitivity_boost(props): |
| 730 | """Returns whether a device supports post RAW sensitivity boost. |
| 731 | |
| 732 | Args: |
| 733 | props: Camera properties object. |
| 734 | |
| 735 | Returns: |
| 736 | Boolean. True if android.control.postRawSensitivityBoost is supported. |
| 737 | """ |
| 738 | return props.get('android.control.postRawSensitivityBoostRange') != [100, 100] |
| 739 | |
| 740 | |
| 741 | def sensor_fusion_capable(props): |
| 742 | """Determine if test_sensor_fusion is run.""" |
| 743 | return all([sensor_fusion(props), |
| 744 | manual_sensor(props), |
| 745 | props['android.lens.facing'] != LENS_FACING_EXTERNAL]) |
| 746 | |
| 747 | |
| 748 | def continuous_picture(props): |
| 749 | """Returns whether a device supports CONTINUOUS_PICTURE. |
| 750 | |
| 751 | Args: |
| 752 | props: Camera properties object. |
| 753 | |
| 754 | Returns: |
| 755 | Boolean. True if CONTINUOUS_PICTURE in android.control.afAvailableModes. |
| 756 | """ |
| 757 | return 4 in props.get('android.control.afAvailableModes', []) |
| 758 | |
| 759 | |
| 760 | def af_scene_change(props): |
| 761 | """Returns whether a device supports AF_SCENE_CHANGE. |
| 762 | |
| 763 | Args: |
| 764 | props: Camera properties object. |
| 765 | |
| 766 | Returns: |
| 767 | Boolean. True if android.control.afSceneChange supported. |
| 768 | """ |
| 769 | return 'android.control.afSceneChange' in props.get( |
| 770 | 'camera.characteristics.resultKeys') |
| 771 | |
| 772 | |
| 773 | def multi_camera_frame_sync_capable(props): |
| 774 | """Determines if test_multi_camera_frame_sync can be run.""" |
| 775 | return all([ |
| 776 | read_3a(props), |
| 777 | per_frame_control(props), |
| 778 | logical_multi_camera(props), |
| 779 | sensor_fusion(props), |
| 780 | ]) |
| 781 | |
| 782 | |
| 783 | def multi_camera_sync_calibrated(props): |
| 784 | """Determines if multi-camera sync type is CALIBRATED or APPROXIMATE. |
| 785 | |
| 786 | Args: |
| 787 | props: Camera properties object. |
| 788 | |
| 789 | Returns: |
| 790 | Boolean. True if android.logicalMultiCamera.sensorSyncType is CALIBRATED. |
| 791 | """ |
| 792 | return props.get('android.logicalMultiCamera.sensorSyncType' |
| 793 | ) == MULTI_CAMERA_SYNC_CALIBRATED |
| 794 | |
| 795 | |
| 796 | def solid_color_test_pattern(props): |
| 797 | """Determines if camera supports solid color test pattern. |
| 798 | |
| 799 | Args: |
| 800 | props: Camera properties object. |
| 801 | |
| 802 | Returns: |
| 803 | Boolean. True if android.sensor.availableTestPatternModes has |
| 804 | SOLID_COLOR_TEST_PATTERN. |
| 805 | """ |
| 806 | return SOLID_COLOR_TEST_PATTERN in props.get( |
| 807 | 'android.sensor.availableTestPatternModes') |
Clemenz Portmann | 452eead | 2021-02-08 13:55:12 -0800 | [diff] [blame] | 808 | |
| 809 | |
| 810 | if __name__ == '__main__': |
| 811 | unittest.main() |
| 812 | |