CameraService: Add unit tests for DistortionMapper

- Make cameraserver_test test module reachable by build system
- Fix minor compilation error in CameraProviderManagerTest
- Add tests to verify:
  - Initialization of DistortionMapper
  - Transforms with an identity distortion function
  - Round-trip transform ~1e6 points with a large distortion function
  - Raw to corrected transform compared against OpenCV undistortPoints,
    using python to generate the comparison coordinate lists as a C++
    header

Test: atest cameraservice_test
Bug: 79885994
Change-Id: Iae3d6f9de2e6c79dd5cea5ca35ee5100b38441f4

7 files changed, 2342 insertions, 0 deletions

diff --git a/services/camera/libcameraservice/Android.mk b/services/camera/libcameraservice/Android.mk
index 5697a8739a..96261ab0ef 100644
--- a/services/camera/libcameraservice/Android.mk
+++ b/services/camera/libcameraservice/Android.mk
@@ -97,3 +97,8 @@ LOCAL_CFLAGS += -Wall -Wextra -Werror
 LOCAL_MODULE:= libcameraservice
 
 include $(BUILD_SHARED_LIBRARY)
+
+# Build tests too
+
+include $(LOCAL_PATH)/tests/Android.mk
+
diff --git a/services/camera/libcameraservice/device3/DistortionMapper.cpp b/services/camera/libcameraservice/device3/DistortionMapper.cpp
index 82923bd307..9229079717 100644
--- a/services/camera/libcameraservice/device3/DistortionMapper.cpp
+++ b/services/camera/libcameraservice/device3/DistortionMapper.cpp
@@ -195,6 +195,7 @@ status_t DistortionMapper::updateCalibration(const CameraMetadata &result) {
     }
 
     mValidMapping = true;
+    // Need to recalculate grid
     mValidGrids = false;
 
     return OK;
diff --git a/services/camera/libcameraservice/tests/Android.mk b/services/camera/libcameraservice/tests/Android.mk
index 37a05c2746..f77069c32f 100644
--- a/services/camera/libcameraservice/tests/Android.mk
+++ b/services/camera/libcameraservice/tests/Android.mk
@@ -18,6 +18,7 @@ include $(CLEAR_VARS)
 LOCAL_SRC_FILES:= $(call all-cpp-files-under, .)
 
 LOCAL_SHARED_LIBRARIES := \
+    libbase \
     libcutils \
     libcameraservice \
     libhidlbase \
diff --git a/services/camera/libcameraservice/tests/CameraProviderManagerTest.cpp b/services/camera/libcameraservice/tests/CameraProviderManagerTest.cpp
index c1d6e850c9..ef93d9a9ca 100644
--- a/services/camera/libcameraservice/tests/CameraProviderManagerTest.cpp
+++ b/services/camera/libcameraservice/tests/CameraProviderManagerTest.cpp
@@ -190,6 +190,7 @@ struct TestStatusListener : public CameraProviderManager::StatusListener {
             hardware::camera::common::V1_0::CameraDeviceStatus) override {}
     void onTorchStatusChanged(const String8 &,
             hardware::camera::common::V1_0::TorchModeStatus) override {}
+    void onNewProviderRegistered() override {}
 };
 
 TEST(CameraProviderManagerTest, InitializeTest) {
diff --git a/services/camera/libcameraservice/tests/DistortionMapperComp.py b/services/camera/libcameraservice/tests/DistortionMapperComp.py
new file mode 100644
index 0000000000..dea36a7b3e
--- /dev/null
+++ b/services/camera/libcameraservice/tests/DistortionMapperComp.py
@@ -0,0 +1,47 @@
+# Calculates comparison output values for DistortionMapperTest.cpp:CompareToOpenCV
+#
+# Assumes a python that has numpy and cv2 (OpenCV) available
+
+import numpy as np
+import cv2
+
+Fx = 1000
+Fy = 1000
+Cx = 500
+Cy = 500
+# s = 0 - not supported by OpenCV
+
+K = np.array([[Fx, 0, Cx],[0, Fy, Cy],[0, 0, 1]])
+
+# Order is k1, k2, t1, t2, k3
+dist = np.array([0.1, -0.003, 0.02, 0.01, 0.004])
+
+np.random.seed(1234)
+
+activeArray = np.array([[1000, 750]])
+
+rawCoords = np.floor(np.random.rand(1000,2) * activeArray)
+
+# OpenCV needs either row count or col count = 1 for some reason
+rawCoords2 = rawCoords.reshape(-1, 1, 2)
+
+# P is the output camera matrix, K is the input; use the same for both
+expCoords = cv2.undistortPoints(rawCoords2, K, dist, P = K)
+
+with open('DistortionMapperTest_OpenCvData.h','w') as f:
+  f.write('// Generated by DistortionMapperComp.py\n');
+  f.write('// for use by DistortionMapperTest.cpp\n\n');
+
+  f.write('namespace openCvData {\n')
+  f.write('std::array<int32_t, %d> rawCoords = {\n' % (rawCoords.shape[0] * rawCoords.shape[1]))
+  for i in range(rawCoords.shape[0]):
+    f.write('  %d, %d,\n' % (rawCoords[i][0], rawCoords[i][1]))
+  f.write('};\n')
+
+  f.write('std::array<int32_t, %d> expCoords = {\n' % (expCoords.shape[0] * expCoords.shape[2]))
+  for i in range(expCoords.shape[0]):
+    f.write('  %d, %d,\n' % (expCoords[i][0][0], expCoords[i][0][1]))
+  f.write('};\n')
+  f.write('} // namespace openCvData\n')
+
+print "DistortionMapperTest_OpenCvData.h generated"
diff --git a/services/camera/libcameraservice/tests/DistortionMapperTest.cpp b/services/camera/libcameraservice/tests/DistortionMapperTest.cpp
new file mode 100644
index 0000000000..b489931b9f
--- /dev/null
+++ b/services/camera/libcameraservice/tests/DistortionMapperTest.cpp
@@ -0,0 +1,278 @@
+/*
+ * Copyright (C) 2018 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#define LOG_NDEBUG 0
+#define LOG_TAG "DistortionMapperTest"
+
+#include <random>
+
+#include <gtest/gtest.h>
+#include <android-base/stringprintf.h>
+#include <android-base/chrono_utils.h>
+
+#include "../device3/DistortionMapper.h"
+
+using namespace android;
+using namespace android::camera3;
+
+
+int32_t testActiveArray[] = {100, 100, 1000, 750};
+
+float testICal[] = { 1000.f, 1000.f, 500.f, 500.f, 0.f };
+
+float identityDistortion[] = { 0.f, 0.f, 0.f, 0.f, 0.f};
+
+std::array<int32_t, 12> basicCoords = {
+    0, 0,
+    testActiveArray[2] - 1, 0,
+    testActiveArray[2] - 1,  testActiveArray[3] - 1,
+    0, testActiveArray[3] - 1,
+    testActiveArray[2] / 2, testActiveArray[3] / 2,
+    251, 403  // A particularly bad coordinate for current grid count/array size
+};
+
+
+void setupTestMapper(DistortionMapper *m, float distortion[5]) {
+    CameraMetadata deviceInfo;
+
+    deviceInfo.update(ANDROID_SENSOR_INFO_PRE_CORRECTION_ACTIVE_ARRAY_SIZE,
+            testActiveArray, 4);
+
+    deviceInfo.update(ANDROID_LENS_INTRINSIC_CALIBRATION,
+            testICal, 5);
+
+    deviceInfo.update(ANDROID_LENS_DISTORTION,
+            distortion, 5);
+
+    m->setupStaticInfo(deviceInfo);
+}
+
+TEST(DistortionMapperTest, Initialization) {
+    CameraMetadata deviceInfo;
+
+    ASSERT_FALSE(DistortionMapper::isDistortionSupported(deviceInfo));
+
+    uint8_t distortionModes[] =
+            {ANDROID_DISTORTION_CORRECTION_MODE_OFF,
+             ANDROID_DISTORTION_CORRECTION_MODE_FAST,
+             ANDROID_DISTORTION_CORRECTION_MODE_HIGH_QUALITY};
+
+    deviceInfo.update(ANDROID_DISTORTION_CORRECTION_AVAILABLE_MODES,
+            distortionModes, 1);
+
+    ASSERT_FALSE(DistortionMapper::isDistortionSupported(deviceInfo));
+
+    deviceInfo.update(ANDROID_DISTORTION_CORRECTION_AVAILABLE_MODES,
+            distortionModes, 3);
+
+    ASSERT_TRUE(DistortionMapper::isDistortionSupported(deviceInfo));
+
+    DistortionMapper m;
+
+    ASSERT_FALSE(m.calibrationValid());
+
+    ASSERT_NE(m.setupStaticInfo(deviceInfo), OK);
+
+    ASSERT_FALSE(m.calibrationValid());
+
+    deviceInfo.update(ANDROID_SENSOR_INFO_PRE_CORRECTION_ACTIVE_ARRAY_SIZE,
+            testActiveArray, 4);
+
+    deviceInfo.update(ANDROID_LENS_INTRINSIC_CALIBRATION,
+            testICal, 5);
+
+    deviceInfo.update(ANDROID_LENS_DISTORTION,
+            identityDistortion, 5);
+
+    ASSERT_EQ(m.setupStaticInfo(deviceInfo), OK);
+
+    ASSERT_TRUE(m.calibrationValid());
+
+    CameraMetadata captureResult;
+
+    ASSERT_NE(m.updateCalibration(captureResult), OK);
+
+    captureResult.update(ANDROID_LENS_INTRINSIC_CALIBRATION,
+            testICal, 5);
+    captureResult.update(ANDROID_LENS_DISTORTION,
+            identityDistortion, 5);
+
+    ASSERT_EQ(m.updateCalibration(captureResult), OK);
+
+}
+
+TEST(DistortionMapperTest, IdentityTransform) {
+    status_t res;
+
+    DistortionMapper m;
+    setupTestMapper(&m, identityDistortion);
+
+    auto coords = basicCoords;
+    res = m.mapCorrectedToRaw(coords.data(), 5);
+    ASSERT_EQ(res, OK);
+
+    for (size_t i = 0; i < coords.size(); i++) {
+        EXPECT_EQ(coords[i], basicCoords[i]);
+    }
+
+    res = m.mapRawToCorrected(coords.data(), 5);
+    ASSERT_EQ(res, OK);
+
+    for (size_t i = 0; i < coords.size(); i++) {
+        EXPECT_EQ(coords[i], basicCoords[i]);
+    }
+
+    std::array<int32_t, 8> rects = {
+        0, 0, 100, 100,
+        testActiveArray[2] - 100, testActiveArray[3]-100, 100, 100
+    };
+
+    auto rectsOrig = rects;
+    res = m.mapCorrectedRectToRaw(rects.data(), 2);
+    ASSERT_EQ(res, OK);
+
+    for (size_t i = 0; i < rects.size(); i++) {
+        EXPECT_EQ(rects[i], rectsOrig[i]);
+    }
+
+    res = m.mapRawRectToCorrected(rects.data(), 2);
+    ASSERT_EQ(res, OK);
+
+    for (size_t i = 0; i < rects.size(); i++) {
+        EXPECT_EQ(rects[i], rectsOrig[i]);
+    }
+}
+
+TEST(DistortionMapperTest, LargeTransform) {
+    status_t res;
+    constexpr int maxAllowedPixelError = 2; // Maximum per-pixel error allowed
+    constexpr int bucketsPerPixel = 3; // Histogram granularity
+
+    unsigned int seed = 1234; // Ensure repeatability for debugging
+    const size_t coordCount = 1e6; // Number of random test points
+
+    float bigDistortion[] = {0.1, -0.003, 0.004, 0.02, 0.01};
+
+    DistortionMapper m;
+    setupTestMapper(&m, bigDistortion);
+
+    std::default_random_engine gen(seed);
+
+    std::uniform_int_distribution<int> x_dist(0, testActiveArray[2] - 1);
+    std::uniform_int_distribution<int> y_dist(0, testActiveArray[3] - 1);
+
+    std::vector<int32_t> randCoords(coordCount * 2);
+
+    for (size_t i = 0; i < randCoords.size(); i += 2) {
+        randCoords[i] = x_dist(gen);
+        randCoords[i + 1] = y_dist(gen);
+    }
+
+    randCoords.insert(randCoords.end(), basicCoords.begin(), basicCoords.end());
+
+    auto origCoords = randCoords;
+
+    base::Timer correctedToRawTimer;
+    res = m.mapCorrectedToRaw(randCoords.data(), randCoords.size() / 2);
+    auto correctedToRawDurationMs = correctedToRawTimer.duration();
+    EXPECT_EQ(res, OK);
+
+    base::Timer rawToCorrectedTimer;
+    res = m.mapRawToCorrected(randCoords.data(), randCoords.size() / 2);
+    auto rawToCorrectedDurationMs = rawToCorrectedTimer.duration();
+    EXPECT_EQ(res, OK);
+
+    float correctedToRawDurationPerCoordUs =
+            (std::chrono::duration_cast<std::chrono::duration<double, std::micro>>(
+                correctedToRawDurationMs) / (randCoords.size() / 2) ).count();
+    float rawToCorrectedDurationPerCoordUs =
+            (std::chrono::duration_cast<std::chrono::duration<double, std::micro>>(
+                rawToCorrectedDurationMs) / (randCoords.size() / 2) ).count();
+
+    RecordProperty("CorrectedToRawDurationPerCoordUs",
+            base::StringPrintf("%f", correctedToRawDurationPerCoordUs));
+    RecordProperty("RawToCorrectedDurationPerCoordUs",
+            base::StringPrintf("%f", rawToCorrectedDurationPerCoordUs));
+
+    // Calculate mapping errors after round trip
+    float totalErrorSq = 0;
+    // Basic histogram; buckets go from [N to N+1)
+    std::array<int, maxAllowedPixelError * bucketsPerPixel> histogram = {0};
+    int outOfHistogram = 0;
+
+    for (size_t i = 0; i < randCoords.size(); i += 2) {
+        int xOrig = origCoords[i];
+        int yOrig = origCoords[i + 1];
+        int xMapped = randCoords[i];
+        int yMapped = randCoords[i + 1];
+
+        float errorSq = (xMapped - xOrig) * (xMapped - xOrig) +
+                (yMapped - yOrig) * (yMapped - yOrig);
+
+        EXPECT_LE(errorSq, maxAllowedPixelError * maxAllowedPixelError) << "( " <<
+                xOrig << "," << yOrig << ") -> (" << xMapped << "," << yMapped << ")";
+
+        // Note: Integer coordinates, so histogram will be clumpy; error distances can only be of
+        // form sqrt(X^2+Y^2) where X, Y are integers, so:
+        //    0, 1, sqrt(2), 2, sqrt(5), sqrt(8), 3, sqrt(10), sqrt(13), 4 ...
+        totalErrorSq += errorSq;
+        float errorDist = std::sqrt(errorSq);
+        if (errorDist < maxAllowedPixelError) {
+            int histBucket = static_cast<int>(errorDist * bucketsPerPixel); // rounds down
+            histogram[histBucket]++;
+        } else {
+            outOfHistogram++;
+        }
+    }
+
+    float rmsError = std::sqrt(totalErrorSq / randCoords.size());
+    RecordProperty("RmsError", base::StringPrintf("%f", rmsError));
+    for (size_t i = 0; i < histogram.size(); i++) {
+        std::string label = base::StringPrintf("HistogramBin[%f,%f)",
+                (float)i/bucketsPerPixel, (float)(i + 1)/bucketsPerPixel);
+        RecordProperty(label, histogram[i]);
+    }
+    RecordProperty("HistogramOutOfRange", outOfHistogram);
+}
+
+// Compare against values calculated by OpenCV
+// undistortPoints() method, which is the same as mapRawToCorrected
+// See script DistortionMapperComp.py
+#include "DistortionMapperTest_OpenCvData.h"
+
+TEST(DistortionMapperTest, CompareToOpenCV) {
+    status_t res;
+
+    float bigDistortion[] = {0.1, -0.003, 0.004, 0.02, 0.01};
+
+    // Expect to match within sqrt(2) radius pixels
+    const int32_t maxSqError = 2;
+
+    DistortionMapper m;
+    setupTestMapper(&m, bigDistortion);
+
+    using namespace openCvData;
+
+    res = m.mapRawToCorrected(rawCoords.data(), rawCoords.size() / 2);
+
+    for (size_t i = 0; i < rawCoords.size(); i+=2) {
+        int32_t dist = (rawCoords[i] - expCoords[i]) * (rawCoords[i] - expCoords[i]) +
+               (rawCoords[i + 1] - expCoords[i + 1]) * (rawCoords[i + 1] - expCoords[i + 1]);
+        EXPECT_LE(dist, maxSqError)
+                << "(" << rawCoords[i] << ", " << rawCoords[i + 1] << ") != ("
+                << expCoords[i] << ", " << expCoords[i + 1] << ")";
+    }
+}
diff --git a/services/camera/libcameraservice/tests/DistortionMapperTest_OpenCvData.h b/services/camera/libcameraservice/tests/DistortionMapperTest_OpenCvData.h
new file mode 100644
index 0000000000..f996bd5c3e
--- /dev/null
+++ b/services/camera/libcameraservice/tests/DistortionMapperTest_OpenCvData.h
@@ -0,0 +1,2009 @@
+// Generated by DistortionMapperComp.py
+// for use by DistortionMapperTest.cpp
+
+namespace openCvData {
+std::array<int32_t, 2000> rawCoords = {
+  191, 466,
+  437, 589,
+  779, 204,
+  276, 601,
+  958, 656,
+  357, 375,
+  683, 534,
+  370, 420,
+  503, 10,
+  772, 661,
+  364, 461,
+  75, 276,
+  933, 488,
+  397, 591,
+  316, 426,
+  869, 327,
+  802, 107,
+  704, 528,
+  218, 693,
+  442, 681,
+  59, 138,
+  47, 506,
+  594, 399,
+  43, 421,
+  329, 377,
+  111, 455,
+  565, 5,
+  617, 684,
+  790, 744,
+  958, 593,
+  285, 468,
+  478, 146,
+  382, 40,
+  451, 736,
+  123, 89,
+  738, 440,
+  471, 80,
+  229, 674,
+  416, 401,
+  6, 225,
+  436, 459,
+  918, 469,
+  705, 112,
+  746, 623,
+  633, 328,
+  152, 426,
+  528, 713,
+  480, 376,
+  536, 614,
+  57, 502,
+  767, 531,
+  796, 418,
+  965, 110,
+  29, 445,
+  114, 713,
+  325, 145,
+  457, 690,
+  879, 189,
+  348, 136,
+  901, 529,
+  726, 675,
+  779, 449,
+  291, 113,
+  335, 493,
+  73, 41,
+  323, 442,
+  853, 215,
+  173, 100,
+  994, 134,
+  317, 426,
+  9, 675,
+  977, 417,
+  84, 249,
+  728, 106,
+  552, 204,
+  974, 500,
+  255, 81,
+  776, 586,
+  761, 685,
+  658, 426,
+  201, 523,
+  952, 667,
+  993, 614,
+  545, 338,
+  890, 729,
+  593, 274,
+  323, 653,
+  215, 551,
+  365, 601,
+  782, 526,
+  622, 370,
+  840, 534,
+  443, 23,
+  363, 548,
+  475, 258,
+  640, 94,
+  171, 552,
+  127, 277,
+  604, 77,
+  802, 709,
+  979, 660,
+  627, 697,
+  724, 537,
+  41, 329,
+  282, 251,
+  83, 570,
+  509, 495,
+  630, 278,
+  446, 311,
+  480, 737,
+  373, 9,
+  921, 654,
+  351, 472,
+  357, 159,
+  223, 314,
+  72, 488,
+  755, 699,
+  376, 222,
+  371, 620,
+  901, 320,
+  2, 31,
+  141, 448,
+  106, 222,
+  58, 465,
+  22, 641,
+  306, 569,
+  563, 28,
+  565, 494,
+  183, 598,
+  612, 416,
+  629, 514,
+  240, 590,
+  856, 545,
+  692, 354,
+  856, 498,
+  333, 388,
+  394, 23,
+  576, 637,
+  951, 512,
+  76, 307,
+  41, 130,
+  565, 129,
+  566, 385,
+  868, 540,
+  903, 208,
+  256, 524,
+  901, 737,
+  640, 247,
+  606, 616,
+  627, 88,
+  285, 740,
+  431, 430,
+  527, 148,
+  165, 375,
+  990, 295,
+  714, 131,
+  70, 118,
+  161, 212,
+  536, 579,
+  880, 478,
+  852, 448,
+  693, 402,
+  889, 39,
+  783, 108,
+  58, 44,
+  51, 386,
+  404, 749,
+  108, 245,
+  997, 300,
+  883, 426,
+  953, 664,
+  779, 23,
+  962, 389,
+  207, 656,
+  224, 103,
+  725, 730,
+  535, 333,
+  22, 454,
+  964, 725,
+  930, 138,
+  622, 309,
+  363, 27,
+  868, 504,
+  87, 665,
+  782, 237,
+  818, 380,
+  21, 325,
+  446, 179,
+  830, 558,
+  586, 369,
+  487, 200,
+  605, 565,
+  270, 391,
+  98, 535,
+  884, 425,
+  994, 134,
+  12, 342,
+  931, 634,
+  473, 676,
+  225, 228,
+  714, 543,
+  18, 214,
+  580, 698,
+  338, 90,
+  516, 524,
+  298, 646,
+  905, 576,
+  261, 703,
+  938, 558,
+  910, 177,
+  494, 607,
+  954, 478,
+  910, 519,
+  42, 625,
+  369, 702,
+  483, 93,
+  964, 12,
+  676, 105,
+  155, 487,
+  981, 521,
+  761, 318,
+  138, 162,
+  764, 40,
+  490, 135,
+  630, 413,
+  567, 613,
+  938, 144,
+  712, 523,
+  258, 686,
+  532, 418,
+  322, 253,
+  332, 734,
+  203, 500,
+  574, 38,
+  542, 155,
+  91, 652,
+  27, 726,
+  327, 307,
+  135, 95,
+  413, 463,
+  132, 730,
+  180, 570,
+  482, 576,
+  302, 11,
+  463, 527,
+  66, 501,
+  345, 443,
+  229, 200,
+  932, 619,
+  145, 485,
+  883, 556,
+  515, 101,
+  39, 625,
+  117, 392,
+  873, 29,
+  692, 357,
+  169, 47,
+  32, 181,
+  112, 303,
+  42, 694,
+  935, 607,
+  188, 440,
+  903, 725,
+  67, 238,
+  696, 480,
+  632, 621,
+  713, 251,
+  167, 573,
+  359, 66,
+  729, 660,
+  41, 131,
+  420, 255,
+  44, 84,
+  438, 53,
+  816, 649,
+  131, 144,
+  437, 728,
+  773, 98,
+  927, 620,
+  392, 105,
+  52, 69,
+  886, 126,
+  362, 490,
+  604, 296,
+  374, 47,
+  428, 539,
+  768, 145,
+  862, 21,
+  902, 177,
+  128, 238,
+  848, 624,
+  345, 179,
+  535, 203,
+  34, 470,
+  520, 31,
+  757, 741,
+  801, 257,
+  335, 263,
+  442, 434,
+  617, 132,
+  864, 532,
+  170, 641,
+  19, 481,
+  162, 193,
+  342, 4,
+  438, 597,
+  675, 408,
+  564, 10,
+  608, 741,
+  224, 440,
+  835, 594,
+  329, 267,
+  960, 167,
+  211, 115,
+  495, 195,
+  555, 54,
+  378, 345,
+  778, 540,
+  231, 18,
+  257, 307,
+  8, 353,
+  852, 692,
+  231, 743,
+  5, 251,
+  789, 73,
+  442, 285,
+  832, 533,
+  355, 18,
+  693, 315,
+  858, 431,
+  940, 660,
+  458, 12,
+  68, 240,
+  592, 457,
+  512, 108,
+  876, 553,
+  373, 621,
+  90, 48,
+  505, 700,
+  148, 427,
+  59, 126,
+  69, 679,
+  447, 79,
+  665, 376,
+  409, 545,
+  172, 288,
+  267, 231,
+  177, 361,
+  629, 44,
+  196, 209,
+  707, 245,
+  425, 528,
+  159, 329,
+  629, 693,
+  356, 614,
+  640, 536,
+  738, 728,
+  246, 31,
+  247, 33,
+  705, 626,
+  934, 353,
+  512, 197,
+  98, 599,
+  142, 604,
+  879, 374,
+  914, 309,
+  200, 482,
+  399, 460,
+  437, 444,
+  951, 414,
+  903, 103,
+  1, 459,
+  541, 585,
+  821, 715,
+  609, 217,
+  826, 282,
+  609, 465,
+  441, 149,
+  443, 693,
+  671, 61,
+  572, 90,
+  999, 748,
+  694, 280,
+  401, 693,
+  244, 498,
+  481, 26,
+  110, 671,
+  892, 686,
+  307, 223,
+  659, 446,
+  984, 461,
+  154, 623,
+  815, 69,
+  887, 12,
+  863, 674,
+  850, 489,
+  328, 409,
+  237, 653,
+  176, 277,
+  759, 229,
+  616, 164,
+  872, 485,
+  473, 175,
+  833, 73,
+  205, 176,
+  596, 471,
+  982, 132,
+  799, 116,
+  360, 716,
+  130, 204,
+  809, 724,
+  92, 437,
+  405, 674,
+  84, 135,
+  50, 225,
+  190, 6,
+  127, 84,
+  730, 179,
+  901, 246,
+  874, 177,
+  378, 406,
+  515, 310,
+  388, 255,
+  402, 342,
+  382, 493,
+  881, 429,
+  428, 193,
+  865, 129,
+  579, 545,
+  730, 302,
+  117, 572,
+  533, 541,
+  597, 317,
+  933, 745,
+  547, 547,
+  27, 647,
+  998, 243,
+  850, 458,
+  441, 395,
+  779, 188,
+  462, 635,
+  678, 275,
+  137, 302,
+  931, 504,
+  419, 426,
+  41, 746,
+  619, 584,
+  931, 256,
+  811, 654,
+  665, 441,
+  893, 336,
+  244, 610,
+  697, 307,
+  5, 715,
+  605, 4,
+  498, 448,
+  300, 346,
+  495, 439,
+  869, 624,
+  778, 411,
+  613, 550,
+  566, 581,
+  986, 591,
+  614, 118,
+  476, 212,
+  153, 582,
+  58, 59,
+  664, 392,
+  446, 230,
+  17, 220,
+  267, 27,
+  804, 250,
+  891, 607,
+  964, 718,
+  591, 233,
+  918, 37,
+  225, 272,
+  412, 708,
+  579, 140,
+  596, 700,
+  134, 736,
+  153, 615,
+  677, 303,
+  217, 580,
+  847, 397,
+  409, 13,
+  148, 603,
+  419, 254,
+  297, 538,
+  997, 413,
+  889, 126,
+  883, 527,
+  422, 647,
+  235, 422,
+  26, 285,
+  361, 68,
+  45, 256,
+  355, 746,
+  944, 98,
+  518, 357,
+  401, 697,
+  515, 607,
+  881, 572,
+  464, 55,
+  470, 150,
+  208, 133,
+  354, 683,
+  433, 133,
+  752, 37,
+  82, 28,
+  465, 452,
+  181, 389,
+  710, 693,
+  529, 728,
+  547, 4,
+  472, 391,
+  152, 490,
+  130, 340,
+  982, 99,
+  60, 50,
+  96, 614,
+  629, 587,
+  77, 728,
+  882, 472,
+  929, 298,
+  488, 514,
+  281, 507,
+  495, 593,
+  218, 559,
+  454, 306,
+  922, 113,
+  130, 286,
+  541, 708,
+  323, 73,
+  947, 642,
+  26, 88,
+  829, 103,
+  569, 358,
+  306, 42,
+  936, 678,
+  722, 490,
+  392, 730,
+  711, 369,
+  326, 86,
+  972, 205,
+  187, 161,
+  760, 708,
+  501, 496,
+  347, 96,
+  681, 293,
+  26, 375,
+  528, 167,
+  1, 334,
+  505, 60,
+  822, 180,
+  9, 168,
+  84, 619,
+  714, 183,
+  63, 320,
+  706, 538,
+  193, 555,
+  956, 386,
+  430, 17,
+  507, 514,
+  138, 504,
+  39, 323,
+  854, 316,
+  88, 42,
+  103, 363,
+  674, 68,
+  832, 582,
+  61, 241,
+  377, 376,
+  449, 350,
+  104, 280,
+  21, 336,
+  893, 581,
+  249, 548,
+  315, 372,
+  50, 436,
+  282, 220,
+  126, 669,
+  451, 488,
+  809, 212,
+  273, 289,
+  421, 699,
+  867, 333,
+  29, 80,
+  196, 178,
+  824, 672,
+  27, 429,
+  805, 315,
+  525, 214,
+  658, 67,
+  822, 605,
+  191, 478,
+  832, 352,
+  580, 81,
+  462, 664,
+  464, 349,
+  196, 29,
+  615, 423,
+  108, 556,
+  183, 261,
+  480, 482,
+  621, 570,
+  286, 369,
+  681, 382,
+  768, 224,
+  546, 183,
+  443, 607,
+  103, 172,
+  791, 424,
+  827, 731,
+  965, 712,
+  551, 69,
+  740, 423,
+  745, 341,
+  155, 746,
+  889, 602,
+  411, 159,
+  294, 467,
+  248, 599,
+  18, 360,
+  734, 512,
+  421, 519,
+  367, 174,
+  785, 545,
+  706, 23,
+  239, 278,
+  581, 65,
+  232, 609,
+  752, 603,
+  294, 585,
+  224, 217,
+  848, 558,
+  332, 425,
+  699, 68,
+  53, 647,
+  629, 652,
+  87, 649,
+  41, 718,
+  227, 563,
+  400, 302,
+  253, 380,
+  184, 42,
+  366, 539,
+  474, 691,
+  170, 538,
+  869, 96,
+  974, 565,
+  916, 28,
+  285, 617,
+  274, 38,
+  147, 12,
+  782, 261,
+  749, 41,
+  78, 592,
+  370, 83,
+  405, 488,
+  436, 151,
+  443, 556,
+  96, 383,
+  843, 745,
+  630, 214,
+  126, 10,
+  338, 363,
+  546, 27,
+  61, 17,
+  507, 199,
+  445, 730,
+  797, 213,
+  555, 148,
+  790, 65,
+  837, 180,
+  434, 320,
+  102, 681,
+  149, 680,
+  10, 130,
+  839, 232,
+  848, 683,
+  899, 650,
+  837, 190,
+  843, 463,
+  984, 457,
+  651, 490,
+  552, 139,
+  980, 71,
+  748, 393,
+  290, 171,
+  503, 698,
+  574, 742,
+  429, 312,
+  627, 680,
+  69, 412,
+  154, 538,
+  135, 3,
+  537, 12,
+  535, 34,
+  153, 632,
+  797, 227,
+  398, 336,
+  20, 463,
+  804, 175,
+  400, 369,
+  501, 250,
+  105, 480,
+  151, 146,
+  57, 686,
+  830, 119,
+  867, 380,
+  128, 84,
+  222, 667,
+  450, 522,
+  390, 466,
+  716, 375,
+  760, 624,
+  559, 407,
+  587, 18,
+  989, 53,
+  817, 102,
+  153, 269,
+  253, 164,
+  563, 360,
+  93, 385,
+  197, 360,
+  277, 7,
+  887, 280,
+  416, 658,
+  760, 411,
+  902, 690,
+  465, 424,
+  28, 105,
+  399, 620,
+  455, 520,
+  637, 491,
+  769, 0,
+  300, 521,
+  90, 392,
+  894, 722,
+  705, 573,
+  344, 188,
+  667, 111,
+  470, 16,
+  759, 154,
+  840, 581,
+  176, 663,
+  93, 151,
+  372, 130,
+  345, 425,
+  156, 581,
+  33, 8,
+  320, 395,
+  629, 661,
+  641, 17,
+  695, 663,
+  751, 197,
+  507, 93,
+  608, 519,
+  77, 303,
+  513, 605,
+  98, 354,
+  567, 401,
+  184, 440,
+  785, 748,
+  52, 32,
+  528, 452,
+  82, 532,
+  116, 147,
+  779, 341,
+  308, 275,
+  763, 135,
+  137, 375,
+  14, 260,
+  337, 378,
+  492, 262,
+  202, 119,
+  561, 334,
+  855, 683,
+  876, 724,
+  202, 544,
+  571, 437,
+  456, 436,
+  67, 4,
+  468, 592,
+  922, 540,
+  125, 539,
+  615, 290,
+  785, 76,
+  402, 556,
+  12, 696,
+  460, 52,
+  909, 92,
+  894, 153,
+  931, 373,
+  360, 120,
+  726, 626,
+  318, 733,
+  472, 424,
+  146, 74,
+  86, 564,
+  742, 236,
+  845, 400,
+  832, 139,
+  275, 437,
+  929, 42,
+  818, 123,
+  439, 274,
+  65, 590,
+  512, 132,
+  520, 443,
+  444, 107,
+  961, 313,
+  130, 488,
+  587, 191,
+  287, 603,
+  56, 208,
+  936, 628,
+  908, 445,
+  773, 258,
+  383, 283,
+  425, 530,
+  244, 133,
+  216, 543,
+  631, 595,
+  785, 108,
+  87, 192,
+  640, 427,
+  889, 688,
+  152, 89,
+  10, 209,
+  122, 343,
+  188, 5,
+  896, 748,
+  806, 22,
+  535, 457,
+  851, 307,
+  261, 566,
+  791, 590,
+  947, 300,
+  658, 394,
+  418, 305,
+  371, 632,
+  470, 438,
+  165, 410,
+  538, 380,
+  643, 408,
+  318, 591,
+  564, 311,
+  327, 690,
+  930, 8,
+  93, 100,
+  627, 196,
+  582, 416,
+  200, 492,
+  943, 267,
+  31, 355,
+  67, 374,
+  692, 57,
+  229, 373,
+  542, 371,
+  801, 230,
+  114, 420,
+  769, 326,
+  83, 448,
+  846, 137,
+  912, 77,
+  126, 3,
+  784, 420,
+  660, 391,
+  795, 188,
+  530, 42,
+  137, 106,
+  663, 80,
+  757, 340,
+  694, 267,
+  768, 612,
+  926, 155,
+  600, 25,
+  292, 31,
+  97, 225,
+  60, 437,
+  724, 563,
+  698, 85,
+  286, 196,
+  66, 1,
+  269, 25,
+  467, 405,
+  204, 171,
+  653, 14,
+  299, 360,
+  521, 719,
+  760, 602,
+  329, 282,
+  687, 530,
+  110, 200,
+  30, 300,
+  6, 501,
+  868, 281,
+  281, 76,
+  805, 363,
+  876, 114,
+  219, 549,
+  65, 611,
+  859, 23,
+  66, 354,
+  205, 169,
+  434, 174,
+  828, 668,
+  814, 720,
+  663, 34,
+  875, 707,
+  969, 561,
+  932, 66,
+  834, 548,
+  961, 86,
+  263, 148,
+  145, 202,
+  83, 146,
+  947, 727,
+  3, 138,
+  927, 514,
+  814, 742,
+  80, 430,
+  866, 184,
+  593, 731,
+  193, 219,
+  496, 490,
+  606, 530,
+  314, 334,
+  301, 327,
+  50, 715,
+  178, 57,
+  936, 626,
+  972, 617,
+  33, 427,
+  147, 435,
+  83, 341,
+  859, 244,
+  337, 688,
+  637, 124,
+  874, 71,
+  590, 474,
+  332, 120,
+  640, 290,
+  816, 171,
+  665, 431,
+  79, 31,
+  857, 110,
+  103, 79,
+  293, 397,
+  866, 651,
+  356, 73,
+  438, 710,
+  41, 233,
+  782, 596,
+  852, 407,
+  590, 104,
+  34, 116,
+  756, 276,
+  282, 181,
+  871, 275,
+  888, 712,
+  872, 279,
+  645, 324,
+  730, 524,
+  430, 302,
+  601, 486,
+  114, 529,
+  359, 317,
+  313, 426,
+  33, 732,
+  970, 211,
+  657, 582,
+  945, 501,
+  450, 630,
+  822, 697,
+  702, 600,
+  958, 289,
+  732, 96,
+  205, 662,
+  695, 533,
+  369, 433,
+  83, 445,
+  176, 315,
+  239, 95,
+  895, 682,
+  628, 118,
+  730, 741,
+  779, 734,
+  804, 314,
+  465, 567,
+  810, 106,
+  81, 268,
+  968, 518,
+  22, 159,
+  726, 504,
+  38, 269,
+  751, 649,
+  954, 659,
+};
+std::array<int32_t, 2000> expCoords = {
+  190, 464,
+  437, 588,
+  774, 203,
+  276, 599,
+  939, 646,
+  356, 373,
+  681, 533,
+  369, 419,
+  500, 7,
+  765, 655,
+  363, 460,
+  75, 272,
+  920, 484,
+  397, 590,
+  315, 424,
+  861, 326,
+  795, 107,
+  701, 526,
+  220, 688,
+  442, 678,
+  59, 134,
+  50, 501,
+  593, 398,
+  44, 417,
+  327, 375,
+  111, 452,
+  562, 3,
+  614, 680,
+  780, 734,
+  941, 586,
+  284, 467,
+  476, 142,
+  379, 36,
+  451, 731,
+  122, 85,
+  735, 439,
+  469, 76,
+  231, 670,
+  415, 400,
+  8, 221,
+  435, 458,
+  906, 466,
+  701, 111,
+  741, 619,
+  632, 327,
+  151, 423,
+  527, 709,
+  479, 375,
+  535, 612,
+  59, 498,
+  762, 529,
+  791, 417,
+  948, 113,
+  31, 441,
+  119, 705,
+  323, 141,
+  457, 687,
+  869, 189,
+  346, 132,
+  890, 525,
+  721, 670,
+  775, 448,
+  288, 108,
+  334, 492,
+  74, 38,
+  322, 441,
+  845, 215,
+  171, 96,
+  975, 137,
+  316, 425,
+  17, 665,
+  961, 414,
+  83, 245,
+  723, 105,
+  551, 201,
+  958, 495,
+  253, 77,
+  770, 583,
+  754, 679,
+  657, 425,
+  201, 521,
+  934, 657,
+  973, 605,
+  544, 336,
+  875, 717,
+  592, 272,
+  323, 650,
+  215, 549,
+  365, 600,
+  777, 524,
+  621, 369,
+  832, 531,
+  440, 19,
+  362, 547,
+  474, 255,
+  637, 92,
+  171, 549,
+  126, 273,
+  601, 74,
+  792, 701,
+  959, 649,
+  624, 692,
+  721, 535,
+  42, 325,
+  280, 247,
+  86, 565,
+  508, 494,
+  629, 276,
+  445, 309,
+  479, 732,
+  370, 5,
+  905, 645,
+  350, 471,
+  355, 155,
+  221, 311,
+  73, 484,
+  748, 692,
+  374, 218,
+  371, 618,
+  891, 319,
+  6, 29,
+  141, 445,
+  105, 218,
+  60, 461,
+  28, 633,
+  306, 567,
+  560, 25,
+  564, 493,
+  184, 595,
+  611, 415,
+  628, 513,
+  240, 587,
+  847, 541,
+  690, 353,
+  848, 495,
+  331, 386,
+  391, 19,
+  575, 635,
+  936, 507,
+  76, 303,
+  42, 126,
+  563, 126,
+  565, 384,
+  858, 536,
+  892, 209,
+  255, 522,
+  884, 724,
+  639, 245,
+  604, 614,
+  624, 86,
+  287, 734,
+  430, 429,
+  525, 145,
+  164, 372,
+  974, 295,
+  710, 130,
+  70, 114,
+  159, 208,
+  535, 578,
+  871, 475,
+  844, 446,
+  691, 401,
+  876, 43,
+  777, 108,
+  59, 41,
+  52, 382,
+  404, 744,
+  107, 241,
+  980, 300,
+  874, 424,
+  935, 654,
+  771, 24,
+  948, 387,
+  209, 652,
+  222, 99,
+  718, 722,
+  534, 331,
+  25, 449,
+  943, 711,
+  916, 140,
+  621, 307,
+  360, 23,
+  859, 501,
+  92, 658,
+  777, 236,
+  812, 379,
+  22, 321,
+  444, 175,
+  822, 554,
+  585, 368,
+  486, 197,
+  604, 564,
+  268, 389,
+  100, 531,
+  875, 423,
+  975, 137,
+  14, 338,
+  915, 626,
+  472, 673,
+  223, 224,
+  711, 541,
+  19, 210,
+  578, 694,
+  336, 85,
+  515, 523,
+  298, 643,
+  892, 570,
+  263, 698,
+  923, 552,
+  898, 178,
+  493, 606,
+  940, 474,
+  898, 515,
+  47, 618,
+  369, 698,
+  481, 89,
+  945, 18,
+  673, 103,
+  155, 484,
+  964, 516,
+  757, 317,
+  136, 158,
+  757, 41,
+  488, 131,
+  629, 412,
+  566, 611,
+  924, 146,
+  709, 521,
+  259, 682,
+  531, 417,
+  320, 250,
+  333, 729,
+  202, 498,
+  571, 35,
+  540, 152,
+  95, 645,
+  36, 715,
+  325, 304,
+  134, 91,
+  412, 462,
+  137, 722,
+  181, 567,
+  481, 575,
+  300, 7,
+  462, 526,
+  68, 497,
+  344, 442,
+  227, 196,
+  917, 611,
+  145, 482,
+  872, 551,
+  513, 97,
+  44, 618,
+  116, 389,
+  861, 32,
+  690, 356,
+  168, 43,
+  33, 177,
+  111, 299,
+  49, 685,
+  920, 600,
+  187, 438,
+  887, 713,
+  67, 234,
+  694, 479,
+  630, 619,
+  710, 250,
+  168, 570,
+  356, 62,
+  724, 655,
+  42, 127,
+  418, 252,
+  45, 81,
+  436, 49,
+  807, 643,
+  130, 140,
+  437, 723,
+  767, 98,
+  912, 612,
+  390, 101,
+  53, 66,
+  875, 128,
+  361, 489,
+  603, 294,
+  371, 43,
+  427, 538,
+  763, 144,
+  850, 24,
+  891, 178,
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+};
+} // namespace openCvData