test_camera.cpp
11 KB
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
// This file is part of OpenCV project.
// It is subject to the license terms in the LICENSE file found in the top-level directory
// of this distribution and at http://opencv.org/license.html.
// Note: all tests here are DISABLED by default due specific requirements.
// Don't use #if 0 - these tests should be tested for compilation at least.
//
// Usage: opencv_test_videoio --gtest_also_run_disabled_tests --gtest_filter=*videoio_camera*<tested case>*
#include "test_precomp.hpp"
#include <opencv2/core/utils/configuration.private.hpp>
namespace opencv_test { namespace {
static void test_readFrames(/*const*/ VideoCapture& capture, const int N = 100, Mat* lastFrame = NULL, bool testTimestamps = true)
{
Mat frame;
int64 time0 = cv::getTickCount();
int64 sysTimePrev = time0;
const double cvTickFreq = cv::getTickFrequency();
double camTimePrev = 0.0;
const double fps = capture.get(cv::CAP_PROP_FPS);
const double framePeriod = fps == 0.0 ? 1. : 1.0 / fps;
const bool validTickAndFps = cvTickFreq != 0 && fps != 0.;
testTimestamps &= validTickAndFps;
for (int i = 0; i < N; i++)
{
SCOPED_TRACE(cv::format("frame=%d", i));
capture >> frame;
const int64 sysTimeCurr = cv::getTickCount();
const double camTimeCurr = capture.get(cv::CAP_PROP_POS_MSEC);
ASSERT_FALSE(frame.empty());
// Do we have a previous frame?
if (i > 0 && testTimestamps)
{
const double sysTimeElapsedSecs = (sysTimeCurr - sysTimePrev) / cvTickFreq;
const double camTimeElapsedSecs = (camTimeCurr - camTimePrev) / 1000.;
// Check that the time between two camera frames and two system time calls
// are within 1.5 frame periods of one another.
//
// 1.5x is chosen to accomodate for a dropped frame, and an additional 50%
// to account for drift in the scale of the camera and system time domains.
EXPECT_NEAR(sysTimeElapsedSecs, camTimeElapsedSecs, framePeriod * 1.5);
}
EXPECT_GT(cvtest::norm(frame, NORM_INF), 0) << "Complete black image has been received";
sysTimePrev = sysTimeCurr;
camTimePrev = camTimeCurr;
}
int64 time1 = cv::getTickCount();
printf("Processed %d frames on %.2f FPS\n", N, (N * cvTickFreq) / (time1 - time0 + 1));
if (lastFrame) *lastFrame = frame.clone();
}
TEST(DISABLED_videoio_camera, basic)
{
VideoCapture capture(0);
ASSERT_TRUE(capture.isOpened());
std::cout << "Camera 0 via " << capture.getBackendName() << " backend" << std::endl;
std::cout << "Frame width: " << capture.get(CAP_PROP_FRAME_WIDTH) << std::endl;
std::cout << " height: " << capture.get(CAP_PROP_FRAME_HEIGHT) << std::endl;
std::cout << "Capturing FPS: " << capture.get(CAP_PROP_FPS) << std::endl;
test_readFrames(capture);
capture.release();
}
// Test that CAP_PROP_CONVERT_RGB remain to false (default is true) after other supported property are set.
// The test use odd value to be almost sure to trigger code responsible for recreating the device.
TEST(DISABLED_videoio_camera, dshow_convert_rgb_persistency)
{
VideoCapture capture(CAP_DSHOW);
ASSERT_TRUE(capture.isOpened());
ASSERT_TRUE(capture.set(CAP_PROP_CONVERT_RGB, 0));
ASSERT_DOUBLE_EQ(capture.get(CAP_PROP_CONVERT_RGB), 0);
capture.set(CAP_PROP_FRAME_WIDTH, 641);
capture.set(CAP_PROP_FRAME_HEIGHT, 481);
capture.set(CAP_PROP_FPS, 31);
capture.set(CAP_PROP_CHANNEL, 1);
capture.set(cv::CAP_PROP_FOURCC, cv::VideoWriter::fourcc('Y', '1', '6', ' '));
std::cout << "Camera 0 via " << capture.getBackendName() << " backend" << std::endl;
std::cout << "Frame width: " << capture.get(CAP_PROP_FRAME_WIDTH) << std::endl;
std::cout << " height: " << capture.get(CAP_PROP_FRAME_HEIGHT) << std::endl;
std::cout << "Capturing FPS: " << capture.get(CAP_PROP_FPS) << std::endl;
ASSERT_DOUBLE_EQ(capture.get(CAP_PROP_CONVERT_RGB), 0);
capture.release();
}
TEST(DISABLED_videoio_camera, v4l_read_mjpg)
{
VideoCapture capture(CAP_V4L2);
ASSERT_TRUE(capture.isOpened());
ASSERT_TRUE(capture.set(CAP_PROP_FOURCC, VideoWriter::fourcc('M', 'J', 'P', 'G')));
std::cout << "Camera 0 via " << capture.getBackendName() << " backend" << std::endl;
std::cout << "Frame width: " << capture.get(CAP_PROP_FRAME_WIDTH) << std::endl;
std::cout << " height: " << capture.get(CAP_PROP_FRAME_HEIGHT) << std::endl;
std::cout << "Capturing FPS: " << capture.get(CAP_PROP_FPS) << std::endl;
int fourcc = (int)capture.get(CAP_PROP_FOURCC);
std::cout << "FOURCC code: " << cv::format("0x%8x", fourcc) << std::endl;
test_readFrames(capture);
capture.release();
}
TEST(DISABLED_videoio_camera, v4l_open_mjpg)
{
VideoCapture capture;
capture.open(0, CAP_V4L2, {
CAP_PROP_FOURCC, VideoWriter::fourcc('M', 'J', 'P', 'G')
});
ASSERT_TRUE(capture.isOpened());
std::cout << "Camera 0 via " << capture.getBackendName() << " backend" << std::endl;
std::cout << "Frame width: " << capture.get(CAP_PROP_FRAME_WIDTH) << std::endl;
std::cout << " height: " << capture.get(CAP_PROP_FRAME_HEIGHT) << std::endl;
std::cout << "Capturing FPS: " << capture.get(CAP_PROP_FPS) << std::endl;
int fourcc = (int)capture.get(CAP_PROP_FOURCC);
std::cout << "FOURCC code: " << cv::format("0x%8x", fourcc) << std::endl;
test_readFrames(capture);
capture.release();
}
TEST(DISABLED_videoio_camera, v4l_open_mjpg_1280x720)
{
VideoCapture capture(0, CAP_V4L2, {
CAP_PROP_FOURCC, VideoWriter::fourcc('M', 'J', 'P', 'G'),
CAP_PROP_FRAME_WIDTH, 1280,
CAP_PROP_FRAME_HEIGHT, 720,
});
ASSERT_TRUE(capture.isOpened());
std::cout << "Camera 0 via " << capture.getBackendName() << " backend" << std::endl;
std::cout << "Frame width: " << capture.get(CAP_PROP_FRAME_WIDTH) << std::endl;
std::cout << " height: " << capture.get(CAP_PROP_FRAME_HEIGHT) << std::endl;
std::cout << "Capturing FPS: " << capture.get(CAP_PROP_FPS) << std::endl;
int fourcc = (int)capture.get(CAP_PROP_FOURCC);
std::cout << "FOURCC code: " << cv::format("0x%8x", fourcc) << std::endl;
test_readFrames(capture);
capture.release();
}
//Following test if for capture device using PhysConn_Video_SerialDigital as crossbar input pin
TEST(DISABLED_videoio_camera, channel6)
{
VideoCapture capture(0);
ASSERT_TRUE(capture.isOpened());
capture.set(CAP_PROP_CHANNEL, 6);
std::cout << "Camera 0 via " << capture.getBackendName() << " backend" << std::endl;
std::cout << "Frame width: " << capture.get(CAP_PROP_FRAME_WIDTH) << std::endl;
std::cout << " height: " << capture.get(CAP_PROP_FRAME_HEIGHT) << std::endl;
std::cout << "Capturing FPS: " << capture.get(CAP_PROP_FPS) << std::endl;
test_readFrames(capture);
capture.release();
}
TEST(DISABLED_videoio_camera, v4l_read_framesize)
{
VideoCapture capture(CAP_V4L2);
ASSERT_TRUE(capture.isOpened());
std::cout << "Camera 0 via " << capture.getBackendName() << " backend" << std::endl;
std::cout << "Frame width: " << capture.get(CAP_PROP_FRAME_WIDTH) << std::endl;
std::cout << " height: " << capture.get(CAP_PROP_FRAME_HEIGHT) << std::endl;
std::cout << "Capturing FPS: " << capture.get(CAP_PROP_FPS) << std::endl;
int fourcc = (int)capture.get(CAP_PROP_FOURCC);
std::cout << "FOURCC code: " << cv::format("0x%8x", fourcc) << std::endl;
test_readFrames(capture, 30);
EXPECT_TRUE(capture.set(CAP_PROP_FRAME_WIDTH, 640));
EXPECT_TRUE(capture.set(CAP_PROP_FRAME_HEIGHT, 480));
std::cout << "Frame width: " << capture.get(CAP_PROP_FRAME_WIDTH) << std::endl;
std::cout << " height: " << capture.get(CAP_PROP_FRAME_HEIGHT) << std::endl;
std::cout << "Capturing FPS: " << capture.get(CAP_PROP_FPS) << std::endl;
Mat frame640x480;
test_readFrames(capture, 30, &frame640x480);
EXPECT_EQ(640, frame640x480.cols);
EXPECT_EQ(480, frame640x480.rows);
EXPECT_TRUE(capture.set(CAP_PROP_FRAME_WIDTH, 1280));
EXPECT_TRUE(capture.set(CAP_PROP_FRAME_HEIGHT, 720));
std::cout << "Frame width: " << capture.get(CAP_PROP_FRAME_WIDTH) << std::endl;
std::cout << " height: " << capture.get(CAP_PROP_FRAME_HEIGHT) << std::endl;
std::cout << "Capturing FPS: " << capture.get(CAP_PROP_FPS) << std::endl;
Mat frame1280x720;
test_readFrames(capture, 30, &frame1280x720);
EXPECT_EQ(1280, frame1280x720.cols);
EXPECT_EQ(720, frame1280x720.rows);
capture.release();
}
static
utils::Paths getTestCameras()
{
static utils::Paths cameras = utils::getConfigurationParameterPaths("OPENCV_TEST_CAMERA_LIST");
return cameras;
}
TEST(DISABLED_videoio_camera, waitAny_V4L)
{
auto cameraNames = getTestCameras();
if (cameraNames.empty())
throw SkipTestException("No list of tested cameras. Use OPENCV_TEST_CAMERA_LIST parameter");
const int totalFrames = 50; // number of expected frames (summary for all cameras)
const int64 timeoutNS = 100 * 1000000;
const Size frameSize(640, 480);
const int fpsDefaultEven = 30;
const int fpsDefaultOdd = 15;
std::vector<VideoCapture> cameras;
for (size_t i = 0; i < cameraNames.size(); ++i)
{
const auto& name = cameraNames[i];
int fps = (int)utils::getConfigurationParameterSizeT(cv::format("OPENCV_TEST_CAMERA%d_FPS", (int)i).c_str(), (i & 1) ? fpsDefaultOdd : fpsDefaultEven);
std::cout << "Camera[" << i << "] = '" << name << "', fps=" << fps << std::endl;
VideoCapture cap(name, CAP_V4L);
ASSERT_TRUE(cap.isOpened()) << name;
EXPECT_TRUE(cap.set(CAP_PROP_FRAME_WIDTH, frameSize.width)) << name;
EXPECT_TRUE(cap.set(CAP_PROP_FRAME_HEIGHT, frameSize.height)) << name;
EXPECT_TRUE(cap.set(CAP_PROP_FPS, fps)) << name;
//launch cameras
Mat firstFrame;
EXPECT_TRUE(cap.read(firstFrame));
EXPECT_EQ(frameSize.width, firstFrame.cols);
EXPECT_EQ(frameSize.height, firstFrame.rows);
cameras.push_back(cap);
}
std::vector<size_t> frameFromCamera(cameraNames.size(), 0);
{
int counter = 0;
std::vector<int> cameraReady;
do
{
EXPECT_TRUE(VideoCapture::waitAny(cameras, cameraReady, timeoutNS));
EXPECT_FALSE(cameraReady.empty());
for (int idx : cameraReady)
{
//std::cout << "Reading frame from camera: " << idx << std::endl;
ASSERT_TRUE(idx >= 0 && (size_t)idx < cameras.size()) << idx;
VideoCapture& c = cameras[idx];
Mat frame;
#if 1
ASSERT_TRUE(c.retrieve(frame)) << idx;
#else
ASSERT_TRUE(c.read(frame)) << idx;
#endif
EXPECT_EQ(frameSize.width, frame.cols) << idx;
EXPECT_EQ(frameSize.height, frame.rows) << idx;
++frameFromCamera[idx];
++counter;
}
}
while(counter < totalFrames);
}
for (size_t i = 0; i < cameraNames.size(); ++i)
{
EXPECT_GT(frameFromCamera[i], (size_t)0) << i;
}
}
}} // namespace