Adding new test for ArUcoCamera. Testing board tracking.

1 files changed, 42 insertions, 0 deletions

diff --git a/src/argaze.test/ArUcoMarkers/ArUcoCamera.py b/src/argaze.test/ArUcoMarkers/ArUcoCamera.py
new file mode 100644
index 0000000..7e50e8c
--- /dev/null
+++ b/src/argaze.test/ArUcoMarkers/ArUcoCamera.py
@@ -0,0 +1,42 @@
+#!/usr/bin/env python
+
+import unittest
+import os
+
+from argaze.ArUcoMarkers import ArUcoCamera
+
+import numpy
+
+class TestArUcoCameraClass(unittest.TestCase):
+    """Test ArUcoCamera class."""
+
+    def test_new(self):
+        """Test ArUcoCamera creation."""
+
+        # Check defaut camera creation
+        aruco_camera = ArUcoCamera.ArUcoCamera()
+
+        # Check ArUco camera
+        self.assertEqual(aruco_camera.rms, 0.0)
+        self.assertIsNone(numpy.testing.assert_array_equal(aruco_camera.dimensions, numpy.array([0, 0])))
+        self.assertIsNone(numpy.testing.assert_array_equal(aruco_camera.K, ArUcoCamera.K0))
+        self.assertIsNone(numpy.testing.assert_array_equal(aruco_camera.D, ArUcoCamera.D0))
+
+    def test_from_json(self):
+
+        # Edit camera file path
+        current_directory = os.path.dirname(os.path.abspath(__file__))
+        json_filepath = os.path.join(current_directory, 'utils/camera.json')
+
+        # Load camera calibration
+        aruco_camera = ArUcoCamera.ArUcoCamera.from_json(json_filepath)
+
+        # Check ArUco camera
+        self.assertEqual(aruco_camera.rms, 1.0)
+        self.assertIsNone(numpy.testing.assert_array_equal(aruco_camera.dimensions, numpy.array([1920, 1080])))
+        self.assertIsNone(numpy.testing.assert_array_equal(aruco_camera.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.D, [-1.0, -0.5, 0.0, 0.5, 1.0]))
+
+if __name__ == '__main__':
+
+    unittest.main() 
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