aboutsummaryrefslogtreecommitdiff
path: root/src/argaze.test/ArUcoMarker/ArUcoDetector.py
diff options
context:
space:
mode:
authorThéo de la Hogue2024-04-17 13:32:51 +0200
committerThéo de la Hogue2024-04-17 13:32:51 +0200
commit4d0de7c804914a55977635ec6bc46beb0cf7808a (patch)
treeb3e40c76052b067723bfc41547b81a38a0da00b2 /src/argaze.test/ArUcoMarker/ArUcoDetector.py
parent9e0e2db258a2a475637813649e81b7e400b17022 (diff)
downloadargaze-4d0de7c804914a55977635ec6bc46beb0cf7808a.zip
argaze-4d0de7c804914a55977635ec6bc46beb0cf7808a.tar.gz
argaze-4d0de7c804914a55977635ec6bc46beb0cf7808a.tar.bz2
argaze-4d0de7c804914a55977635ec6bc46beb0cf7808a.tar.xz
Renaming ArUcoMarkers into ArUcoMarker
Diffstat (limited to 'src/argaze.test/ArUcoMarker/ArUcoDetector.py')
-rw-r--r--src/argaze.test/ArUcoMarker/ArUcoDetector.py149
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() \ No newline at end of file