Renaming ArUcoMarkers into ArUcoMarker

1 files changed, 149 insertions, 0 deletions

diff --git a/src/argaze.test/ArUcoMarker/ArUcoDetector.py b/src/argaze.test/ArUcoMarker/ArUcoDetector.py
new file mode 100644
index 0000000..40b7d00
--- /dev/null
+++ b/src/argaze.test/ArUcoMarker/ArUcoDetector.py
@@ -0,0 +1,149 @@
+""" 
+
+This program is free software: you can redistribute it and/or modify it under
+the terms of the GNU General Public License as published by the Free Software
+Foundation, either version 3 of the License, or (at your option) any later
+version.
+This program is distributed in the hope that it will be useful, but WITHOUT
+ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.
+You should have received a copy of the GNU General Public License along with
+this program. If not, see <https://www.gnu.org/licenses/>.
+"""
+
+__author__ = "Théo de la Hogue"
+__credits__ = []
+__copyright__ = "Copyright 2023, Ecole Nationale de l'Aviation Civile (ENAC)"
+__license__ = "GPLv3"
+
+import unittest
+import os
+import math
+
+from argaze.ArUcoMarker import ArUcoMarkerDictionary, ArUcoOpticCalibrator, ArUcoDetector, ArUcoBoard
+
+import cv2 as cv
+import numpy
+
+class TestDetectorParametersClass(unittest.TestCase):
+    """Test DetectorParameters class."""
+
+    def test_from_json(self):
+        """Test DetectorParameters creation from json file."""
+        
+        # Edit file path
+        current_directory = os.path.dirname(os.path.abspath(__file__))
+        json_filepath = os.path.join(current_directory, 'utils/detector_parameters.json')
+
+        # Load file
+        detector_parameters = ArUcoDetector.DetectorParameters.from_json(json_filepath)
+
+        # Check data
+        self.assertEqual(detector_parameters.cornerRefinementMethod, 3)
+        self.assertEqual(detector_parameters.aprilTagQuadSigma, 2)
+        self.assertEqual(detector_parameters.aprilTagDeglitch, 1)
+
+        # Check bad data access fails
+        with self.assertRaises(AttributeError):
+
+            detector_parameters.unknown_data = 1
+
+class TestArUcoDetectorClass(unittest.TestCase):
+    """Test ArUcoDetector class."""
+
+    def test_new(self):
+        """Test ArUcoDetector creation."""
+
+        aruco_detector = ArUcoDetector.ArUcoDetector(marker_size=3)
+
+         # Check ArUcoDetector creation
+        self.assertEqual(aruco_detector.dictionary.name, 'DICT_ARUCO_ORIGINAL')
+        self.assertEqual(aruco_detector.marker_size, 3)
+        self.assertIsNone(numpy.testing.assert_array_equal(aruco_detector.optic_parameters.dimensions, [0, 0]))
+        self.assertEqual(aruco_detector.detected_markers_number(), 0)
+        self.assertEqual(aruco_detector.detected_markers(), {})
+
+        aruco_dictionary = ArUcoMarkerDictionary.ArUcoMarkerDictionary('DICT_APRILTAG_16h5')
+        aruco_detector = ArUcoDetector.ArUcoDetector(aruco_dictionary, 5.2)
+
+         # Check ArUcoDetector creation
+        self.assertEqual(aruco_detector.dictionary.name, 'DICT_APRILTAG_16h5')
+        self.assertEqual(aruco_detector.marker_size, 5.2)
+        self.assertIsNone(numpy.testing.assert_array_equal(aruco_detector.optic_parameters.dimensions, [0, 0]))
+        self.assertEqual(aruco_detector.detected_markers_number(), 0)
+        self.assertEqual(aruco_detector.detected_markers(), {})
+
+    def test_from_json(self):
+        """Test ArUcoDetector creation."""
+
+        # Edit file path
+        current_directory = os.path.dirname(os.path.abspath(__file__))
+        json_filepath = os.path.join(current_directory, 'utils/detector.json')
+
+        # Load file
+        aruco_detector = ArUcoDetector.ArUcoDetector.from_json(json_filepath)
+
+         # Check ArUcoDetector creation
+        self.assertEqual(aruco_detector.dictionary.name, 'DICT_ARUCO_ORIGINAL')
+        self.assertEqual(aruco_detector.marker_size, 3)
+        self.assertIsNone(numpy.testing.assert_array_equal(aruco_detector.optic_parameters.dimensions, [1920, 1080]))
+        self.assertEqual(aruco_detector.parameters.cornerRefinementMethod, 3)
+        self.assertEqual(aruco_detector.parameters.aprilTagQuadSigma, 2)
+        self.assertEqual(aruco_detector.parameters.aprilTagDeglitch, 1)
+
+    def test_detect(self):
+        """Test detect method."""
+
+        aruco_detector = ArUcoDetector.ArUcoDetector(marker_size=3)
+
+        # Load picture Full HD to test ArUcoMarker detection
+        current_directory = os.path.dirname(os.path.abspath(__file__))
+        image = cv.imread(os.path.join(current_directory, 'utils/full_hd_marker.png'))
+
+        # Check ArUcoMarker detection
+        aruco_detector.detect_markers(image)
+
+        self.assertEqual(aruco_detector.detected_markers_number(), 1)
+
+        self.assertEqual(aruco_detector.detected_markers()[0].dictionary, aruco_detector.dictionary)
+        self.assertEqual(aruco_detector.detected_markers()[0].identifier, 0)
+        self.assertEqual(aruco_detector.detected_markers()[0].size, 3)
+
+        # Check corner positions with -/+ 10 pixels precision
+        self.assertIsNone(numpy.testing.assert_almost_equal(aruco_detector.detected_markers()[0].corners[0][0].astype(int), numpy.array([3823, 2073]), decimal=-1))
+        self.assertIsNone(numpy.testing.assert_almost_equal(aruco_detector.detected_markers()[0].corners[0][1].astype(int), numpy.array([4177, 2073]), decimal=-1))
+        self.assertIsNone(numpy.testing.assert_almost_equal(aruco_detector.detected_markers()[0].corners[0][2].astype(int), numpy.array([4177, 2427]), decimal=-1))
+        self.assertIsNone(numpy.testing.assert_almost_equal(aruco_detector.detected_markers()[0].corners[0][3].astype(int), numpy.array([3823, 2427]), decimal=-1))
+
+        # Check marker pose estimation
+        aruco_detector.estimate_markers_pose([0])
+
+        # Check marker translation with -/+ 0.1 cm precision and rotation with -/+ 0.001 radian precision
+        self.assertIsNone(numpy.testing.assert_almost_equal(aruco_detector.detected_markers()[0].translation, numpy.array([33.87, 19.05, 0.]), decimal=1))
+        self.assertIsNone(numpy.testing.assert_almost_equal(aruco_detector.detected_markers()[0].rotation, numpy.array([[1., 0., 0.], [0., -1., 0.], [0., 0., -1.]]), decimal=3))
+
+        # Check detect metrics
+        detect_count, markers_count = aruco_detector.detection_metrics
+        self.assertEqual(detect_count, 1)
+        self.assertEqual(markers_count[0], 1)
+
+    def test_detect_board(self):
+        """Test detect board method."""
+
+        aruco_board = ArUcoBoard.ArUcoBoard(7, 5, 5, 3)
+        aruco_detector = ArUcoDetector.ArUcoDetector(marker_size=3)
+
+        # Load picture Full HD to test ArUcoMarker board detection
+        current_directory = os.path.dirname(os.path.abspath(__file__))
+        image = cv.imread(os.path.join(current_directory, 'utils/full_hd_board.png'))
+
+        # Check ArUcoMarker board detection
+        aruco_detector.detect_board(image, aruco_board, aruco_board.markers_number)
+
+        self.assertEqual(aruco_detector.board_corners_number(), aruco_board.corners_number)
+        self.assertEqual(len(aruco_detector.board_corners()), 24)
+        self.assertEqual(len(aruco_detector.board_corners_identifier()), 24)
+
+if __name__ == '__main__':
+
+    unittest.main() 
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