Merge branch 'fast_idt' into logging

1 files changed, 40 insertions, 43 deletions

diff --git a/src/argaze.test/ArUcoMarkers/ArUcoCamera.py b/src/argaze.test/ArUcoMarkers/ArUcoCamera.py
index 6145f40..a3c5943 100644
--- a/src/argaze.test/ArUcoMarkers/ArUcoCamera.py
+++ b/src/argaze.test/ArUcoMarkers/ArUcoCamera.py
@@ -25,49 +25,46 @@ class TestArUcoCameraClass(unittest.TestCase):
         json_filepath = os.path.join(current_directory, 'utils/aruco_camera.json')
 
         # Load test aruco camera
-        aruco_camera = ArUcoCamera.ArUcoCamera.from_json(json_filepath)
-
-        # Check aruco camera meta data
-        self.assertEqual(aruco_camera.name, "TestArUcoCamera")
-
-        # Check ArUco detector
-        self.assertEqual(aruco_camera.aruco_detector.dictionary.name, "DICT_ARUCO_ORIGINAL")
-        self.assertEqual(aruco_camera.aruco_detector.marker_size, 3.0)
-        self.assertEqual(aruco_camera.aruco_detector.parameters.cornerRefinementMethod, 3)
-        self.assertEqual(aruco_camera.aruco_detector.parameters.aprilTagQuadSigma, 2)
-        self.assertEqual(aruco_camera.aruco_detector.parameters.aprilTagDeglitch, 1)
-
-        # Check ArUco detector optic parameters
-        self.assertEqual(aruco_camera.aruco_detector.optic_parameters.rms, 1.0)
-        self.assertIsNone(numpy.testing.assert_array_equal(aruco_camera.aruco_detector.optic_parameters.dimensions, [1920, 1080]))
-        self.assertIsNone(numpy.testing.assert_array_equal(aruco_camera.aruco_detector.optic_parameters.K, [[1.0, 0.0, 1.0], [0.0, 1.0, 1.0], [0.0, 0.0, 1.0]]))
-        self.assertIsNone(numpy.testing.assert_array_equal(aruco_camera.aruco_detector.optic_parameters.D, [-1.0, -0.5, 0.0, 0.5, 1.0]))
-
-        # Check camera scenes
-        self.assertEqual(len(aruco_camera.scenes), 2)
-        self.assertIsNone(numpy.testing.assert_array_equal(list(aruco_camera.scenes.keys()), ["TestSceneA", "TestSceneB"]))
-
-        # Load test scene
-        ar_scene = aruco_camera.scenes["TestSceneA"]
-
-        # Check Aruco scene
-        self.assertEqual(len(ar_scene.aruco_markers_group.places), 2)
-        self.assertIsNone(numpy.testing.assert_array_equal(ar_scene.aruco_markers_group.places[0].translation, [1, 0, 0]))
-        self.assertIsNone(numpy.testing.assert_array_equal(ar_scene.aruco_markers_group.places[0].rotation, [[1.,0.,0.],[0.,1.,0.],[0.,0.,1.]]))
-        self.assertEqual(ar_scene.aruco_markers_group.places[0].marker.identifier, 0)
-
-        self.assertIsNone(numpy.testing.assert_array_equal(ar_scene.aruco_markers_group.places[1].translation, [0, 1, 0]))
-        self.assertIsNone(numpy.testing.assert_array_almost_equal(ar_scene.aruco_markers_group.places[1].rotation, [[0.,0.,1.],[0., 1.,0.],[-1.,0.,0.]]))
-        self.assertEqual(ar_scene.aruco_markers_group.places[1].marker.identifier, 1)
-
-        # Check AOI scene 
-        self.assertEqual(len(ar_scene.aoi_scene.items()), 1)
-        self.assertEqual(ar_scene.aoi_scene['Test'].points_number, 4)
-        self.assertIsNone(numpy.testing.assert_array_equal(ar_scene.aoi_scene['Test'].size, [1., 1., 0.]))
-
-        # Check ArScene
-        self.assertEqual(ar_scene.angle_tolerance, 1.0)
-        self.assertEqual(ar_scene.distance_tolerance, 2.0)
+        with ArUcoCamera.ArUcoCamera.from_json(json_filepath) as aruco_camera:
+
+            # Check aruco camera meta data
+            self.assertEqual(aruco_camera.name, "TestArUcoCamera")
+
+            # Check ArUco detector
+            self.assertEqual(aruco_camera.aruco_detector.dictionary.name, "DICT_ARUCO_ORIGINAL")
+            self.assertEqual(aruco_camera.aruco_detector.parameters.cornerRefinementMethod, 3)
+            self.assertEqual(aruco_camera.aruco_detector.parameters.aprilTagQuadSigma, 2)
+            self.assertEqual(aruco_camera.aruco_detector.parameters.aprilTagDeglitch, 1)
+
+            # Check ArUco detector optic parameters
+            self.assertEqual(aruco_camera.aruco_detector.optic_parameters.rms, 1.0)
+            self.assertIsNone(numpy.testing.assert_array_equal(aruco_camera.aruco_detector.optic_parameters.dimensions, [1920, 1080]))
+            self.assertIsNone(numpy.testing.assert_array_equal(aruco_camera.aruco_detector.optic_parameters.K, [[1.0, 0.0, 1.0], [0.0, 1.0, 1.0], [0.0, 0.0, 1.0]]))
+            self.assertIsNone(numpy.testing.assert_array_equal(aruco_camera.aruco_detector.optic_parameters.D, [-1.0, -0.5, 0.0, 0.5, 1.0]))
+
+            # Check camera scenes
+            self.assertEqual(len(aruco_camera.scenes), 2)
+            self.assertIsNone(numpy.testing.assert_array_equal(list(aruco_camera.scenes.keys()), ["TestSceneA", "TestSceneB"]))
+
+            # Load test scene
+            ar_scene = aruco_camera.scenes["TestSceneA"]
+
+            # Check Aruco scene
+            self.assertEqual(len(ar_scene.aruco_markers_group.places), 2)
+            self.assertIsNone(numpy.testing.assert_allclose(ar_scene.aruco_markers_group.places[0].corners[0], [-0.5, 1.5, 0.], rtol=0, atol=1e-3))
+            self.assertEqual(ar_scene.aruco_markers_group.places[0].marker.identifier, 0)
+
+            self.assertIsNone(numpy.testing.assert_allclose(ar_scene.aruco_markers_group.places[1].corners[0], [0., 2.5, -1.5], rtol=0, atol=1e-3))
+            self.assertEqual(ar_scene.aruco_markers_group.places[1].marker.identifier, 1)
+
+             # Check layers and AOI scene 
+            self.assertEqual(len(ar_scene.layers.items()), 1)
+            self.assertEqual(len(ar_scene.layers["Main"].aoi_scene), 1)
+            self.assertEqual(ar_scene.layers["Main"].aoi_scene['Test'].points_number, 4)
+
+            # Check ArScene
+            self.assertEqual(ar_scene.angle_tolerance, 1.0)
+            self.assertEqual(ar_scene.distance_tolerance, 2.0)
         
 if __name__ == '__main__':