Source code for test_colorAdjust

# ISC License
#
# Copyright (c) 2016, Autonomous Vehicle Systems Lab, University of Colorado at Boulder
#
# Permission to use, copy, modify, and/or distribute this software for any
# purpose with or without fee is hereby granted, provided that the above
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# WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
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# OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.

# Unit Test Script
# Module Name:        Camera
# Author:             Lucas Webb and Hanspeter Schaub
# Creation Date:      April 30, 2020


import colorsys
import inspect
import math
import os
import numpy as np
import pytest

filename = inspect.getframeinfo(inspect.currentframe()).filename
path = os.path.dirname(os.path.abspath(filename))
bskName = 'Basilisk'
splitPath = path.split(bskName)

# Import all of the modules that we are going to be called in this simulation
importErr = False
reasonErr = ""
try:
    from PIL import Image, ImageDraw
except ImportError:
    importErr = True
    reasonErr = "python Pillow package not installed---can't test Cameras module"

# Import all of the modules that we are going to be called in this simulation
from Basilisk.architecture import messaging
from Basilisk.utilities import macros
from Basilisk.utilities import SimulationBaseClass

try:
    from Basilisk.simulation import camera
except ImportError:
    importErr = True
    reasonErr += "\nCamera not built---check OpenCV option"

# Uncomment this line is this test is to be skipped in the global unit test run, adjust message as needed.
# @pytest.mark.skipif(conditionstring)
# Uncomment this line if this test has an expected failure, adjust message as needed.
# @pytest.mark.xfail(conditionstring)
# Provide a unique test method name, starting with 'test_'.

[docs]@pytest.mark.skipif(importErr, reason= reasonErr) @pytest.mark.parametrize("HSV", [ [0, 0, 0] , [1.0, 20.0, -30.0] , [-1.0, 20.0, -30.0] , [3.14159, 100, -100] ]) @pytest.mark.parametrize("BGR", [ [0, 0, 0] , [10, 20, 30] , [-10, -30, 50] , [-100, 200, 20] ]) # update "module" in this function name to reflect the module name def test_module(show_plots, HSV, BGR): """ **Validation Test Description** This module tests the color shifting capability of the camera module. Multiple HSV and BGR color adjustments are tests on a TV test image. **Description of Variables Being Tested** Multiple points on the test images are adjusted in python and compared to the BSK camera module saved image. The HSV and BGR color corrections are applied on a series of points in the test image. The integer red, green and blue color values are checked to be identical. """ # each test method requires a single assert method to be called image = "tv_test.png" [testResults, testMessage] = cameraColorTest(image, HSV, BGR) # Clean up imagePath = path + '/' + image savedImage = '/'.join(imagePath.split('/')[:-1]) + '/hsv' + str(HSV) + 'bgr' + str(BGR) + '0.000000.png' try: os.remove(savedImage) except FileNotFoundError: pass assert testResults < 1, testMessage
[docs]def cameraColorTest(image, HSV, BGR): """ Test method to apply the HSV and BGR image adjustments. :param image: image name to load from local folder :param HSV: 3d vector of HSV adjustments :param BGR: 3d vector of BGR adjustments """ if importErr: print(reasonErr) exit() # Truth values from python imagePath = path + '/' + image input_image = Image.open(imagePath) input_image.load() ################################################# testFailCount = 0 # zero unit test result counter testMessages = [] # create empty array to store test log messages unitTaskName = "unitTask" # arbitrary name (don't change) unitProcessName = "TestProcess" # arbitrary name (don't change) # Create a sim module as an empty container unitTestSim = SimulationBaseClass.SimBaseClass() # Create test thread testProcessRate = macros.sec2nano(0.5) # update process rate update time testProc = unitTestSim.CreateNewProcess(unitProcessName) testProc.addTask(unitTestSim.CreateNewTask(unitTaskName, testProcessRate)) # Construct algorithm and associated C++ container module = camera.Camera() module.ModelTag = "cameras" # Add test module to runtime call list unitTestSim.AddModelToTask(unitTaskName, module) module.filename = imagePath module.saveImages = True # make each image saved have a unique name for this test case module.saveDir = '/'.join(imagePath.split('/')[:-1]) + '/hsv' + str(HSV) + 'bgr' + str(BGR) # Create input message and size it because the regular creator of that message # is not part of the test. inputMessageData = messaging.CameraImageMsgPayload() inputMessageData.timeTag = int(1E9) inputMessageData.cameraID = 1 inCamMsg = messaging.CameraImageMsg().write(inputMessageData) module.imageInMsg.subscribeTo(inCamMsg) module.cameraIsOn = 1 module.sigma_CB = [0, 0, 1] # Noise parameters module.bgrPercent = np.array(BGR) module.hsv = np.array(HSV) # Setup logging on the test module output message so that we get all the writes to it dataLog = module.cameraConfigOutMsg.recorder() unitTestSim.AddModelToTask(unitTaskName, dataLog) unitTestSim.InitializeSimulation() unitTestSim.TotalSim.SingleStepProcesses() corruptedPath = module.saveDir + '0.000000.png' # print out error message if test failed if not trueColorAdjust(imagePath, corruptedPath, HSV, BGR): testFailCount += 1 testMessages.append("Test failed color adjustment " + image) # each test method requires a single assert method to be called # this check below just makes sure no sub-test failures were found return [testFailCount, ''.join(testMessages)]
def rgb_to_hsv(rgb): hsv = colorsys.rgb_to_hsv(rgb[0], rgb[1], rgb[2]) return [hsv[0] * 180., hsv[1] * 255., hsv[2]] def hsv_to_rgb(hsv): rgb = colorsys.hsv_to_rgb(hsv[0]/180., hsv[1]/255., hsv[2]/255.) return [rgb[0] * 255, rgb[1] * 255, rgb[2] * 255] def trueColorAdjust(image, corrupted, HSV, BGR): input_rgb = Image.open(image).load() output = Image.open(corrupted).load() # these points correspond to the included 'tv_test.png' testPoints = [(100, 300), (250, 300), (450, 300), (600, 300), (700, 300), (950, 300), (1100, 300), (300, 800), (880, 780)] for point in testPoints: px = point[0] py = point[1] # do HSV adjustment hsv = rgb_to_hsv(input_rgb[px, py]) expected = [0, 0, 0] input_degrees = math.degrees(HSV[0]) h_360 = (hsv[0] * 2) + input_degrees h_360 -= 360. * math.floor(h_360 * (1. / 360.)) h_360 = int(h_360 / 2) if h_360 == 180: h_360 = 0 expected[0] = int(h_360) for i in range(2): expected[i+1] = int(hsv[i+1] * (HSV[i+1]/100. + 1.)) if expected[i+1] < 0: expected[i+1] = 0 if expected[i+1] > 255: expected[i+1] = 255 expectedAfterHSV = hsv_to_rgb(expected) expectedAfterHSV = [int(i) for i in expectedAfterHSV] # do BGR adjustment for i in range(3): expected[i] = int((BGR[2 - i] / 100. + 1.) * expectedAfterHSV[i]) if expected[i] > 255: expected[i] = 255 if expected[i] < 0: expected[i] = 0 for i in range(3): if abs(int(output[px, py][i]) - expected[i]) > 3: print("Failed HSV at point: px=" + str(px) + " py= + " + str(py)) return False print("Passed Color Check") return True # # This statement below ensures that the unitTestScript can be run as a # stand-along python script # if __name__ == "__main__": hsvAdjust = [1.0, 20.0, -30.0] bgrAdjust = [-100, 0, 0] cameraColorTest("tv_test.png", hsvAdjust, bgrAdjust)