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Fixing hfilter unit test #7

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Merged
uvvpavel merged 1 commit into from
Jun 21, 2023
Merged

Fixing hfilter unit test #7

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3 changes: 0 additions & 3 deletions camera/api/isp.h
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Original file line number Diff line number Diff line change
Expand Up @@ -7,9 +7,6 @@

#include "statistics.h"

// black level is sensor dependant (used by horizontal filter)
#define BLACK_LEVEL 16

// ---------------------------------- AE/AGC ------------------------------

/**
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2 changes: 1 addition & 1 deletion camera/src/image_hfilter.c
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Original file line number Diff line number Diff line change
Expand Up @@ -40,5 +40,5 @@ void pixel_hfilter_update_scale(

const float sum_b = b0 + 2*b1;

state->acc_init = (128 * (sum_b - shift_scale - BLACK_LEVEL));
state->acc_init = 128 * (sum_b - shift_scale) - SENSOR_BLACK_LEVEL * shift_scale;
}
4 changes: 2 additions & 2 deletions sensors/api/sensor.h
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Original file line number Diff line number Diff line change
Expand Up @@ -33,7 +33,7 @@
#define camera_stop(iic) imx219_stream_stop(iic)
#define camera_configure(iic) imx219_configure_mode(iic)
#define camera_set_exposure(iic,ex) imx219_set_gain_dB(iic,ex)

#define SENSOR_BLACK_LEVEL 16
#endif

#if CONFIG_GC2145_SUPPORT
Expand All @@ -44,10 +44,10 @@
#define camera_stop(iic) gcstop(iic)
#define camera_configure(iic) gcconfigure(iic)
#define camera_set_exposure(iic,ex) gcsetexp(iic,ex)
#define SENSOR_BLACK_LEVEL 0
*/
#endif


// Modes configurations
#ifndef CONFIG_MODE
#error CONFIG_MODE has to be defined
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48 changes: 28 additions & 20 deletions tests/unit_tests/src/test/pixel_hfilter_test.c
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Expand Up @@ -272,15 +272,17 @@ TEST(pixel_hfilter, pixel_hfilter_update_scale__case1)
memset(&state, 0, sizeof(state));

const float gain = 0.0f;
const size_t offset = 0;

pixel_hfilter_update_scale(&state, gain, 0);
pixel_hfilter_update_scale(&state, gain, offset);

const unsigned exp_shift = 9;
const int32_t exp_acc_init = -128 * (1<<exp_shift);
const int32_t shift_scale = 1 << exp_shift;
const int32_t exp_acc_init = - 128 * shift_scale - SENSOR_BLACK_LEVEL * shift_scale;

TEST_ASSERT_EQUAL_INT8(0, state.coef[0]);
TEST_ASSERT_EQUAL_INT8(0, state.coef[2]);
TEST_ASSERT_EQUAL_INT8(0, state.coef[4]);
TEST_ASSERT_EQUAL_INT8(0, state.coef[0 + offset]);
TEST_ASSERT_EQUAL_INT8(0, state.coef[2 + offset]);
TEST_ASSERT_EQUAL_INT8(0, state.coef[4 + offset]);

TEST_ASSERT_EQUAL_UINT(exp_shift, state.shift);
TEST_ASSERT_EQUAL_INT32(exp_acc_init, state.acc_init);
Expand All @@ -296,15 +298,17 @@ TEST(pixel_hfilter, pixel_hfilter_update_scale__case2)
memset(&state, 0, sizeof(state));

const float gain = 1.0f;
const size_t offset = 1;

pixel_hfilter_update_scale(&state, gain, 1);
pixel_hfilter_update_scale(&state, gain, offset);

const unsigned exp_shift = 7;
const int32_t exp_acc_init = 0;
const int32_t shift_scale = 1 << exp_shift;
const int32_t exp_acc_init = - SENSOR_BLACK_LEVEL * shift_scale;

TEST_ASSERT_EQUAL_INT8(0x1B, state.coef[1]);
TEST_ASSERT_EQUAL_INT8(0x4B, state.coef[3]);
TEST_ASSERT_EQUAL_INT8(0x1B, state.coef[5]);
TEST_ASSERT_EQUAL_INT8(0x1B, state.coef[0 + offset]);
TEST_ASSERT_EQUAL_INT8(0x4B, state.coef[2 + offset]);
TEST_ASSERT_EQUAL_INT8(0x1B, state.coef[4 + offset]);

TEST_ASSERT_EQUAL_UINT(exp_shift, state.shift);
TEST_ASSERT_EQUAL_INT32(exp_acc_init, state.acc_init);
Expand All @@ -320,15 +324,17 @@ TEST(pixel_hfilter, pixel_hfilter_update_scale__case3)
memset(&state, 0, sizeof(state));

const float gain = 1.2f;
const size_t offset = 0;

pixel_hfilter_update_scale(&state, gain, 0);
pixel_hfilter_update_scale(&state, gain, offset);

const unsigned exp_shift = 7;
const int32_t exp_acc_init = 128 * (gain - 1.0f) * (1<<exp_shift);
const int32_t shift_scale = 1 << exp_shift;
const int32_t exp_acc_init = 128 * (gain - 1.0f) * shift_scale - SENSOR_BLACK_LEVEL * shift_scale;

TEST_ASSERT_EQUAL_INT8(0x20, state.coef[0]);
TEST_ASSERT_EQUAL_INT8(0x59, state.coef[2]);
TEST_ASSERT_EQUAL_INT8(0x20, state.coef[4]);
TEST_ASSERT_EQUAL_INT8(0x20, state.coef[0 + offset]);
TEST_ASSERT_EQUAL_INT8(0x59, state.coef[2 + offset]);
TEST_ASSERT_EQUAL_INT8(0x20, state.coef[4 + offset]);

TEST_ASSERT_EQUAL_UINT(exp_shift, state.shift);
TEST_ASSERT_EQUAL_INT32(exp_acc_init, state.acc_init);
Expand All @@ -344,15 +350,17 @@ TEST(pixel_hfilter, pixel_hfilter_update_scale__case4)
memset(&state, 0, sizeof(state));

const float gain = 0.8f;
const size_t offset = 1;

pixel_hfilter_update_scale(&state, gain, 1);
pixel_hfilter_update_scale(&state, gain, offset);

const unsigned exp_shift = 8;
const int32_t exp_acc_init = 128 * (gain - 1.0f) * (1<<exp_shift);
const int32_t shift_scale = 1 << exp_shift;
const int32_t exp_acc_init = 128 * (gain - 1.0f) * shift_scale - SENSOR_BLACK_LEVEL * shift_scale;

TEST_ASSERT_EQUAL_INT8(0x2B, state.coef[1]);
TEST_ASSERT_EQUAL_INT8(0x77, state.coef[3]);
TEST_ASSERT_EQUAL_INT8(0x2B, state.coef[5]);
TEST_ASSERT_EQUAL_INT8(0x2B, state.coef[0 + offset]);
TEST_ASSERT_EQUAL_INT8(0x77, state.coef[2 + offset]);
TEST_ASSERT_EQUAL_INT8(0x2B, state.coef[4 + offset]);

TEST_ASSERT_EQUAL_UINT(exp_shift, state.shift);
TEST_ASSERT_EQUAL_INT32(exp_acc_init, state.acc_init);
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