From 5753120fb8bf50ea707890f5917faf6bd7631b26 Mon Sep 17 00:00:00 2001
From: Yakir Gagnon <12.yakir@gmail.com>
Date: Tue, 24 Dec 2024 12:37:21 +0100
Subject: [PATCH 1/6] add tests for chessboard corner detection

---
 test/Project.toml             |  2 +
 test/runtests.jl              |  3 ++
 test/test_corner_detection.jl | 69 +++++++++++++++++++++++++++++++++++
 3 files changed, 74 insertions(+)
 create mode 100644 test/test_corner_detection.jl

diff --git a/test/Project.toml b/test/Project.toml
index 47b270c..027bfc2 100644
--- a/test/Project.toml
+++ b/test/Project.toml
@@ -3,5 +3,7 @@ Artifacts = "56f22d72-fd6d-98f1-02f0-08ddc0907c33"
 Downloads = "f43a241f-c20a-4ad4-852c-f6b1247861c6"
 FileIO = "5789e2e9-d7fb-5bc7-8068-2c6fae9b9549"
 LazyArtifacts = "4af54fe1-eca0-43a8-85a7-787d91b784e3"
+LinearAlgebra = "37e2e46d-f89d-539d-b4ee-838fcccc9c8e"
 OpenCV = "f878e3a2-a245-4720-8660-60795d644f2a"
 Test = "8dfed614-e22c-5e08-85e1-65c5234f0b40"
+XML = "72c71f33-b9b6-44de-8c94-c961784809e2"
diff --git a/test/runtests.jl b/test/runtests.jl
index 08c1515..6160c43 100644
--- a/test/runtests.jl
+++ b/test/runtests.jl
@@ -3,6 +3,8 @@ using LazyArtifacts
 using OpenCV
 using FileIO
 using Test
+using XML
+using LinearAlgebra
 
 if "OPENCV_TEST_DATA_PATH" in keys(ENV)
     test_dir = joinpath(ENV["OPENCV_TEST_DATA_PATH"], "cv")
@@ -18,4 +20,5 @@ end
     include("test_objdetect.jl")
     include("test_dnn.jl")
     include("test_fileio.jl")
+    include("test_corner_detection.jl")
 end
diff --git a/test/test_corner_detection.jl b/test/test_corner_detection.jl
new file mode 100644
index 0000000..23cf8c1
--- /dev/null
+++ b/test/test_corner_detection.jl
@@ -0,0 +1,69 @@
+function _detect_corners(file, n_corners)
+    img = load(file)
+    gry = img[1:1, :, :]
+    cv_n_corners = OpenCV.Size{Int32}(n_corners...)
+    _cv_corners = OpenCV.Mat(Array{Float32}(undef, 2, 1, prod(n_corners)))
+    ret, cv_corners = OpenCV.findChessboardCorners(gry, cv_n_corners, _cv_corners, 0)
+    @assert ret "Failed to detect any corners!"
+    corners = reshape(vec.(eachslice(cv_corners, dims = 3)), n_corners)
+    return corners
+end
+
+function parse_corners_file(file)
+    open(file, "r") do o
+        readuntil(o, "rows:")
+        rows = parse(Int, readuntil(o, "\n"))
+        readuntil(o, "cols:")
+        cols = parse(Int, readuntil(o, "\n"))
+        readuntil(o, "[")
+        corners = [Float32[] for i in 1:cols, j in 1:rows]
+        for i in 1:cols*rows, j in 1:2
+            if i == cols*rows && j == 2
+                break
+            end
+            push!(corners[i], parse(Float32, readuntil(o, ",")))
+        end
+        push!(corners[cols*rows], parse(Float32, readuntil(o, "]")))
+
+        return reverse(permutedims(corners, (2, 1)); dims = 1), (rows, cols)
+    end
+end
+
+function get_list(file)
+    doc = read(file, LazyNode)
+    str = filter(≠('\"'), simple_value(doc[end][end]))
+    list = Dict{String, String}()
+    for line in split(str, '\n')
+        img_file, data_file = split(line)
+        list[img_file] = data_file
+    end
+    return list
+end
+
+function calc_error(ps1, ps2)
+    s = 0.0
+    for (p1, p2) in zip(ps1, ps2)
+        s += LinearAlgebra.norm_sqr(p1 .- p2)
+    end
+    sqrt(s/length(ps1))
+end
+
+@testset "detecting corners" begin
+
+    path = joinpath(test_dir, "cameracalibration")
+    list = get_list(joinpath(path, "chessboard_list.dat"))
+
+    @testset "in $k" for (k, v) in list
+
+        img_file = joinpath(path, k)
+        data_file = joinpath(path, v)
+
+        corners, n_corners = parse_corners_file(data_file)
+        detected_corners = _detect_corners(img_file, n_corners)
+
+        ϵ = calc_error(corners, detected_corners)
+
+        @test ϵ < 1
+
+    end
+end

From c82909c22903d9858de95ace4e768023d0e17383 Mon Sep 17 00:00:00 2001
From: Yakir Gagnon <12.yakir@gmail.com>
Date: Tue, 24 Dec 2024 12:55:39 +0100
Subject: [PATCH 2/6] trying to pass CI with a silly repetition of the corner
 detection

---
 test/test_corner_detection.jl | 1 +
 1 file changed, 1 insertion(+)

diff --git a/test/test_corner_detection.jl b/test/test_corner_detection.jl
index 23cf8c1..18ddd6f 100644
--- a/test/test_corner_detection.jl
+++ b/test/test_corner_detection.jl
@@ -60,6 +60,7 @@ end
 
         corners, n_corners = parse_corners_file(data_file)
         detected_corners = _detect_corners(img_file, n_corners)
+        detected_corners = _detect_corners(img_file, n_corners)
 
         ϵ = calc_error(corners, detected_corners)
 

From 38ab7e342fa2e92a9aa139a447f77fa00daff891 Mon Sep 17 00:00:00 2001
From: Yakir Gagnon <12.yakir@gmail.com>
Date: Tue, 24 Dec 2024 13:09:22 +0100
Subject: [PATCH 3/6] trying to pass CI by adding an initial corner detection

---
 test/test_corner_detection.jl | 17 ++++++++++-------
 1 file changed, 10 insertions(+), 7 deletions(-)

diff --git a/test/test_corner_detection.jl b/test/test_corner_detection.jl
index 18ddd6f..061866a 100644
--- a/test/test_corner_detection.jl
+++ b/test/test_corner_detection.jl
@@ -48,23 +48,26 @@ function calc_error(ps1, ps2)
     sqrt(s/length(ps1))
 end
 
+function test_one(img_file, data_file)
+    corners, n_corners = parse_corners_file(data_file)
+    detected_corners = _detect_corners(img_file, n_corners)
+    calc_error(corners, detected_corners)
+end
+
 @testset "detecting corners" begin
 
     path = joinpath(test_dir, "cameracalibration")
     list = get_list(joinpath(path, "chessboard_list.dat"))
 
+    k, v = first(list)
+    test_one(joinpath(path, k), joinpath(path, v)) # why do we need this?
+
     @testset "in $k" for (k, v) in list
 
         img_file = joinpath(path, k)
         data_file = joinpath(path, v)
 
-        corners, n_corners = parse_corners_file(data_file)
-        detected_corners = _detect_corners(img_file, n_corners)
-        detected_corners = _detect_corners(img_file, n_corners)
-
-        ϵ = calc_error(corners, detected_corners)
-
-        @test ϵ < 1
+        @test test_one(img_file, data_file) < 1
 
     end
 end

From 6f782a21ceb561809e150becd4b4d1f6d4941313 Mon Sep 17 00:00:00 2001
From: Yakir Luc Gagnon <12.yakir@gmail.com>
Date: Sun, 29 Dec 2024 14:30:07 +0100
Subject: [PATCH 4/6] Update test/test_corner_detection.jl

Co-authored-by: Tim Holy <tim.holy@gmail.com>
---
 test/test_corner_detection.jl | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/test/test_corner_detection.jl b/test/test_corner_detection.jl
index 061866a..f5437de 100644
--- a/test/test_corner_detection.jl
+++ b/test/test_corner_detection.jl
@@ -31,7 +31,7 @@ end
 
 function get_list(file)
     doc = read(file, LazyNode)
-    str = filter(≠('\"'), simple_value(doc[end][end]))
+    str = filter(≠('"'), simple_value(doc[end][end]))
     list = Dict{String, String}()
     for line in split(str, '\n')
         img_file, data_file = split(line)

From 8c4babba0833b1e3173631f44f3b0e0679dec190 Mon Sep 17 00:00:00 2001
From: Yakir Gagnon <12.yakir@gmail.com>
Date: Sun, 29 Dec 2024 15:16:23 +0100
Subject: [PATCH 5/6] address tim's points

---
 test/test_corner_detection.jl | 28 ++++++++++++----------------
 1 file changed, 12 insertions(+), 16 deletions(-)

diff --git a/test/test_corner_detection.jl b/test/test_corner_detection.jl
index f5437de..afcc1ce 100644
--- a/test/test_corner_detection.jl
+++ b/test/test_corner_detection.jl
@@ -1,11 +1,13 @@
-function _detect_corners(file, n_corners)
+const Point = Tuple{Float32, Float32} # just for conviniencve 
+
+function detect_corners(file, n_corners)
     img = load(file)
     gry = img[1:1, :, :]
     cv_n_corners = OpenCV.Size{Int32}(n_corners...)
     _cv_corners = OpenCV.Mat(Array{Float32}(undef, 2, 1, prod(n_corners)))
     ret, cv_corners = OpenCV.findChessboardCorners(gry, cv_n_corners, _cv_corners, 0)
     @assert ret "Failed to detect any corners!"
-    corners = reshape(vec.(eachslice(cv_corners, dims = 3)), n_corners)
+    corners = reshape(Point.(eachslice(cv_corners, dims = 3)), n_corners)
     return corners
 end
 
@@ -16,16 +18,10 @@ function parse_corners_file(file)
         readuntil(o, "cols:")
         cols = parse(Int, readuntil(o, "\n"))
         readuntil(o, "[")
-        corners = [Float32[] for i in 1:cols, j in 1:rows]
-        for i in 1:cols*rows, j in 1:2
-            if i == cols*rows && j == 2
-                break
-            end
-            push!(corners[i], parse(Float32, readuntil(o, ",")))
-        end
-        push!(corners[cols*rows], parse(Float32, readuntil(o, "]")))
-
-        return reverse(permutedims(corners, (2, 1)); dims = 1), (rows, cols)
+        txt = readuntil(o, "]")
+        num = parse.(Float32, split(txt, ','))
+        corners = reverse(permutedims(Point.(eachslice(reshape(num, 2, cols, rows), dims=(2,3)))); dims = 1)
+        return corners, (rows, cols)
     end
 end
 
@@ -48,9 +44,9 @@ function calc_error(ps1, ps2)
     sqrt(s/length(ps1))
 end
 
-function test_one(img_file, data_file)
+function calc_error(img_file::AbstractString, data_file::AbstractString)
     corners, n_corners = parse_corners_file(data_file)
-    detected_corners = _detect_corners(img_file, n_corners)
+    detected_corners = detect_corners(img_file, n_corners)
     calc_error(corners, detected_corners)
 end
 
@@ -60,14 +56,14 @@ end
     list = get_list(joinpath(path, "chessboard_list.dat"))
 
     k, v = first(list)
-    test_one(joinpath(path, k), joinpath(path, v)) # why do we need this?
+    calc_error(joinpath(path, k), joinpath(path, v)) # why do we need this?
 
     @testset "in $k" for (k, v) in list
 
         img_file = joinpath(path, k)
         data_file = joinpath(path, v)
 
-        @test test_one(img_file, data_file) < 1
+        @test calc_error(img_file, data_file) < 1
 
     end
 end

From 08cf7cc347b02384df1eb2eeac2c604ecf777149 Mon Sep 17 00:00:00 2001
From: Yakir Gagnon <12.yakir@gmail.com>
Date: Sun, 5 Jan 2025 18:00:04 +0100
Subject: [PATCH 6/6] use simple findChessboardCorners instead

---
 test/test_corner_detection.jl | 7 ++-----
 1 file changed, 2 insertions(+), 5 deletions(-)

diff --git a/test/test_corner_detection.jl b/test/test_corner_detection.jl
index afcc1ce..ba71c93 100644
--- a/test/test_corner_detection.jl
+++ b/test/test_corner_detection.jl
@@ -3,10 +3,7 @@ const Point = Tuple{Float32, Float32} # just for conviniencve
 function detect_corners(file, n_corners)
     img = load(file)
     gry = img[1:1, :, :]
-    cv_n_corners = OpenCV.Size{Int32}(n_corners...)
-    _cv_corners = OpenCV.Mat(Array{Float32}(undef, 2, 1, prod(n_corners)))
-    ret, cv_corners = OpenCV.findChessboardCorners(gry, cv_n_corners, _cv_corners, 0)
-    @assert ret "Failed to detect any corners!"
+    ret, cv_corners = OpenCV.findChessboardCorners(gry, OpenCV.Size{Int32}(n_corners...))
     corners = reshape(Point.(eachslice(cv_corners, dims = 3)), n_corners)
     return corners
 end
@@ -63,7 +60,7 @@ end
         img_file = joinpath(path, k)
         data_file = joinpath(path, v)
 
-        @test calc_error(img_file, data_file) < 1
+        @test calc_error(img_file, data_file) < 2
 
     end
 end